This book presents operational and practical issuesof automotive mechatronics with special emphasis on the heterogeneous automotive vehicle systems approach, and is intended as a graduate text as well as a reference for scientists and engineers involved in the design of automotive mechatronic control systems.

As the complexity of automotive vehicles increases, so does the dearth of high competence, multi-disciplined automotive scientists and engineers. This book provides a discussion into the type of mechatronic control systems found in modernvehicles and the skills required by automotive scientists and engineers working in this environment.

Divided into two volumes and five parts, "Automotive Mechatronics" aimsat improving automotive mechatronics education and emphasises the trainingof students' experimental hands-on abilities, stimulating and promoting experience among high education institutes and produce more automotive mechatronics and automation engineers.

The main subject that are treated are:

VOLUME I: RBW or XBW unibody or chassis-motion mechatronic control hypersystems;DBW AWD propulsion mechatronic control systems; BBW AWB dispulsion mechatronic control systems;

VOLUME II: SBW AWS conversion mechatronic control systems; ABW AWA suspension mechatronic control systems.

This volumewas developed for undergraduate and postgraduate students as wellas for professionals involved in all disciplines related to the design or research and development of automotive vehicle dynamics, powertrains, brakes, steering, and shock absorbers (dampers). Basic knowledge of college mathematics, college physics, and knowledge of the functionality of automotive vehicle basic propulsion, dispulsion, conversion and suspension systems is required.

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"The mathematical investigations referred to bring the whole apparatus of a great science to the examination of the properties of a given mechanism, and have accumulated in this direction rich material, of enduring and increasing value. What is left unexamined is however the other, immensely deeper part of the problem, the question: How did the mechanism, or the elements of which it is composed, originate? What laws govern its building up? Is it indeed formed according to any laws whatever? Or have we simply to accept as data what invention gives us, the analysis of what is thus obtained being the only scientific problem left - as in the case of natural history?" Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 already published in 2008 (Gogu 2008a) has presented the methodology proposed for structural synthesis. This book focuses on various topologies of translational parallel robots 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 mechanisms.

The primary goal of this book is the specification, design and testing of an inertially stabilized camera platform for assistance systems with the focus on adaptive inertial measurement. This can be divided into sub-goals which also served as internal milestones for the project; development of a highly miniaturized inertial measurement unit, development of adaptive control algorithms for gaze stabilization, industrial application and development of multi-sensor fusion algorithms.

Kinematics is an exciting area of computational mechanics which plays a central role in a great variety of fields and industrial applications. Apart from research in pure kinematics, the field offers challenging problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The present book collects a number of important contributions presented during the First Conference on Interdisciplinary Applications of Kinematics (IAK 2008) held in Lima, Peru. To share inspiration and non-standard solutions among the different applications, the conference brought together scientists from several research fields related to kinematics, such as for example, computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics and chemistry. The conference focused on all aspects of kinematics, namely modeling, optimization, experimental validation, industrial applications, theoretical kinematical methods, and design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

This book addresses higher-lower level decision autonomy for autonomous vehicles, and discusses the addition of a novel architecture to cover both levels. The proposed framework's performance and stability are subsequently investigated by employing different meta-heuristic algorithms. The performance of the proposed architecture is shown to be largely independent of the algorithms employed; the use of diverse algorithms (subjected to the real-time performance of the algorithm) does not negatively affect the system's real-time performance. By analyzing the simulation results, the book demonstrates that the proposed model provides perfect mission timing and task management, while also guaranteeing secure deployment. Although mainly intended as a research work, the book's review chapters and the new approaches developed here are also suitable for use in courses for advanced undergraduate or graduate students.

This book presents up-to-date research and novel methodologies on fault diagnosis and fault tolerant control for switched linear systems. It provides a unified yet neat framework of filtering, fault detection, fault diagnosis and fault tolerant control of switched systems. It can therefore serve as a useful textbook for senior and/or graduate students who are interested in knowing the state-of-the-art of filtering, fault detection, fault diagnosis and fault tolerant control areas, as well as recent advances in switched linear systems.

Over the past decades, fault diagnosis (FDI) and fault tolerant control strategies (FTC) have been proposed based on different techniques for linear and nonlinear systems. Indeed a considerable attention is deployed in order to cope with diverse damages resulting in faults occurrence.

"Team Cooperation in a Network of Multi-Vehicle Unmanned Systems" develops a framework for modeling and control of a network of multi-agent unmanned systems in a cooperative manner and with consideration of non-ideal and practical considerations. The main focus of this book is the development of synthesis-based algorithms rather than on conventional analysis-based approaches to the team cooperation, specifically the team consensus problems. The authors provide a set of modified design-based consensus algorithms whose optimality is verified through introduction of performance indices. "

This book meets head-on the difficulty of making practical use of new systems theory, presenting a selection of varied applications together with relevant theory. It shows how workable identification and control solutions can be derived by adapting and extrapolating from the theory. Each chapter has a common structure: a brief presentation of theory; the description of a particular application; experimental results; and a section highlighting, explaining and laying out solutions to the discrepancy between the theoretical and the practical.

This book contains applications of micromechanisms and microactuators in several very modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics and apparatuses. In connection with its topic, the work combines the theoretical results with experimental tests on micromechanisms and microactuators. The book presents the most recent research advances in Machine and Mechanisms Science. It includes the accepted reviewed papers of researchers specialized in the topics of the conference: microactuators and micro-assembly, micro sensors involving movable solids, micro-opto-mechanical devices, mechanical tools for cell and tissue studies, micromanipulation and micro-stages, micro-scale flight and swimming, micro-robotics and surgical tools, micron-scale power generation, miniature manufacturing machines, micromechatronics and micro-mechanisms, biomechanics micro and nano scales and control issues in microsystems. The presented applications of micromechanisms and microactuators in many technical fields will interest industrial companies and encourage scientifical knowledge and cooperation between academia and industry.

The MSP430 is a simple 16-bit microcontroller with a compact and economical CPU containing only 27 instructions and 16 registers. It offers other advantages which make it suitable for low power applications: a rich variety of peripherals for analog input and output; rapid processing wake up time; the treatment of data and address on equal footing.
Introduction to the MSP430 combines a tutorial approach with a description of the CPU and main peripherals. The tutorial builds from a basic program for lighting LEDs to the use of a timer. It uses the C programming language from the start but programs are also developed in assembly language to show how a program interacts with the hardware. To demonstrate the special features of the MSP430 full coverage is given to the instruction set, sigma-delta analog-digital converters and timers. Finally, the book gives an introduction to the MSP430 which extends the architecture to address more memory and which provides a bridge to the ARM 7 processor.
Contents:
1.Embedded electronic systems and microcontrollers; 2. Texas MSP430; 3. Development; 4. A simple tour of the MSP430; 5. Architecture of the MSP430; 6.Functions, interrupts and low-power modes; 7.Digital input, output and displays; 8. Timers; 9. Mixed-signal systems: Analog input and output; 10. Communication; 11. The future: MSP430X; Appendices.
*The only tutorial book on the MSP430
*Uses both C and assembly language
*A CDROM containing a development kit to help the engineer and hobbyist program the MSP430.

This book is intended for engineers, technicians and people who plan to use fuzzy control in more or less developed and advanced control systems for manufacturing processes, or directly for executive equipment. Assuming that the reader possesses elementary knowledge regarding fuzzy sets and fuzzy control, by way of a reminder, the first parts of the book contain a reminder of the theoretical foundations as well as a description of the tools to be found in the Matlab/Simulink environment in the form of a toolbox. The major part of the book presents applications for fuzzy controllers in control systems for various manufacturing and engineering processes. It presents seven processes and problems which have been programmed using fuzzy controllers. The issues discussed concern the field of Environmental Engineering. Examples are the control of a flood wave passing through a hypothetical, and then the real Dobczyce reservoir in the Raba River, which is located in the upper Vistula River basin in Southern Poland, the control and water management in a cascade of reservoirs, a broadly defined combustion process model, modern water heating systems and many other.

The definitive guide toadvanced control system design

Advanced Modern Control System Theory and Design offers the most comprehensive treatment of advanced control systems available today. Superbly organized and easy to use, this book is designed for an advanced course and is a companion volume to the introductory text, Modern Control System Theory and Design, Second Edition (or any other introductory book on control systems). In addition, it can serve as an excellent text for practicing control system engineers who need to learn more advanced control systems techniques in order to perform their tasks.

Advanced Modern Control Systems Theory and Design briefly reviews introductory control system analysis concepts and then presents the methods for designing linear control sys-tems using single-degree and two-degrees-of-freedom compensation techniques. The very important subjects of modern control system design using state-space, pole placement, Ackermann's formula, estimation, robust control, and H8 techniques are then presented. The following crucial subjects are then covered in the presentation:

• Digital Control System Analysis and Design—extends the continuous concepts presented to discrete systems
• Nonlinear Control System Design—extends the linear concepts presented tononlinear systems
• Introduction to Optimal Control Theory and Its Applications—presents such key topics as dynamic programming and the maximum principle, as well as applications to the space attitude control problem and the lunar soft-landing problem
• Control System Design Examples: Complete Case Studies—presents the complete case studies of five control system design examples that illustrate practical design projects

Other notable features of this volume are:

• Free MATLAB software containing problem solutions which can be retrieved from the Mathworks, Inc. anonymous FTP server at ftp://ftp.mathworks.com/pub/books/advshinners
• MATLAB programs and a tutorial on the use of MATLAB incorporated directly into the text
• An extensive set of worked-out, illustrative solutions added in dedicated sections at the end of chapters
• End-of-chapter problems—one-third with answers to facilitate self-study
• A solutions manual containing solutions to the remaining two-thirds of the problems

This book provides the most important steps and concerns in the design of estimation and control algorithms for induction motors. A single notation and modern nonlinear control terminology is used to make the book accessible, although a more theoretical control viewpoint is also given. Focusing on the induction motor with, the concepts of stability and nonlinear control theory given in appendices, this book covers: speed sensorless control; design of adaptive observers and parameter estimators; a discussion of nonlinear adaptive controls containing parameter estimation algorithms; and comparative simulations of different control algorithms. The book sets out basic assumptions, structural properties, modelling, state feedback control and estimation algorithms, then moves to more complex output feedback control algorithms, based on stator current measurements, and modelling for speed sensorless control. The induction motor exhibits many typical and unavoidable nonlinear features.

Modeling and Control of Batch Processes presents state-of-the-art techniques ranging from mechanistic to data-driven models. These methods are specifically tailored to handle issues pertinent to batch processes, such as nonlinear dynamics and lack of online quality measurements. In particular, the book proposes: a novel batch control design with well characterized feasibility properties; a modeling approach that unites multi-model and partial least squares techniques; a generalization of the subspace identification approach for batch processes; and applications to several detailed case studies, ranging from a complex simulation test bed to industrial data. The book's proposed methodology employs statistical tools, such as partial least squares and subspace identification, and couples them with notions from state-space-based models to provide solutions to the quality control problem for batch processes. Practical implementation issues are discussed to help readers understand the application of the methods in greater depth. The book includes numerous comments and remarks providing insight and fundamental understanding into the modeling and control of batch processes. Modeling and Control of Batch Processes includes many detailed examples of industrial relevance that can be tailored by process control engineers or researchers to a specific application. The book is also of interest to graduate students studying control systems, as it contains new research topics and references to significant recent work. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Networked and Distributed Predictive Control presents rigorous, yet practical, methods for the design of networked and distributed predictive control systems - the first book to do so. The design of model predictive control systems using Lyapunov-based techniques accounting for the influence of asynchronous and delayed measurements is followed by a treatment of networked control architecture development. This shows how networked control can augment dedicated control systems in a natural way and takes advantage of additional, potentially asynchronous and delayed measurements to maintain closed loop stability and significantly to improve closed-loop performance. The text then shifts focus to the design of distributed predictive control systems that cooperate efficiently in computing optimal manipulated input trajectories that achieve desired stability, performance and robustness specifications but spend a fraction of the time required by centralized control systems. Key features of this book include: * new techniques for networked and distributed control system design; * insight into issues associated with networked and distributed predictive control and their solution; * detailed appraisal of industrial relevance using computer simulation of nonlinear chemical process networks and wind- and solar-energy-generation systems; and * integrated exposition of novel research topics and rich resource of references to significant recent work. A full understanding of Networked and Distributed Predictive Control requires a basic knowledge of differential equations, linear and nonlinear control theory and optimization methods and the book is intended for academic researchers and graduate students studying control and for process control engineers. The constant attention to practical matters associated with implementation of the theory discussed will help each of these groups understand the application of the book's methods in greater depth.

This book reports on an outstanding research devoted to modeling and control of dynamic systems using fractional-order calculus. It describes the development of model-based control design methods for systems described by fractional dynamic models. More than 300 years had passed since Newton and Leibniz developed a set of mathematical tools we now know as calculus. Ever since then the idea of non-integer derivatives and integrals, universally referred to as fractional calculus, has been of interest to many researchers. However, due to various issues, the usage of fractional-order models in real-life applications was limited. Advances in modern computer science made it possible to apply efficient numerical methods to the computation of fractional derivatives and integrals. This book describes novel methods developed by the author for fractional modeling and control, together with their successful application in real-world process control scenarios.

An instructive reference that will help control researchers and engineers, interested in a variety of industrial processes, to take advantage of a powerful tuning method for the ever-popular PID control paradigm. This monograph presents explicit PID tuning rules for linear control loops regardless of process complexity. It shows the reader how such loops achieve zero steady-position, velocity, and acceleration errors and are thus able to track fast reference signals. The theoretical development takes place in the frequency domain by introducing a general-transfer-function-known process model and by exploiting the principle of the magnitude optimum criterion. It is paralleled by the presentation of real industrial control loops used in electric motor drives. The application of the proposed tuning rules to a large class of processes shows that irrespective of the complexity of the controlled process the shape of the step and frequency response of the control loop exhibits a specific performance. This specific performance, along with the PID explicit solution, formulates the basis for developing an automatic tuning method for the PID controller parameters which is a problem often met in many industry applications-temperature, pH, and humidity control, ratio control in product blending, and boiler-drum level control, for example. The process of the model is considered unknown and controller parameters are tuned automatically such that the aforementioned performance is achieved. The potential both for the explicit tuning rules and the automatic tuning method is demonstrated using several examples for benchmark process models recurring frequently in many industry applications.

A complete solution for problems of vibration control in structures that may be subject to a broadband primary vibration field, this book addresses the following steps: experimental identification of the dynamic model of the structure; optimal placement of sensors and actuators; formulation of control constraints in terms of controller frequency response shape; controller design and simulation; and controller implementation and rapid prototyping. The identification procedure is a gray-box approach tailored to the estimation of modal parameters of large-scale flexible structures. The actuator/sensor placement algorithm maximizes a modal controllability index improving the effectiveness of the control. Considering limitations of sensors and actuators, the controller is chosen as a stable, band-pass MIMO system resulting from the closed-form solution of a robust control problem. Experimental results on an aeronautical stiffened skin panel are presented using rapid-prototyping hardware.

Aero and Vibroacoustics of Automotive Turbochargers is a topic involving aspects from the working fields of thermodynamics of turbomachinery, aerodynamics, rotordynamics, and noise propagation computation. In this broadly interdisciplinary subject, thermodynamics of turbomachinery is used to design the turbocharger and to determine its operating conditions. Aerodynamics is needed to study the compressor flow dynamics and flow instabilities of rotating stall and surge, which can produce growling and whining-type noises. Rotordynamics is necessary to study rotor unbalance and self-excited oil-whirl instabilities, which lead to whistling and constant tone-type noises in rotating floating oil-film type bearings. For the special case of turbochargers using ball bearings, some high-order harmonic and wear noises also manifest in the rotor operating range. Lastly, noise propagation computation, based on Lighthill's analogy, is required to investigate airborne noises produced by turbochargers in passenger vehicles. The content of this book is intended for advanced undergraduates, graduates in mechanical engineering, research scientists and practicing engineers who want to better understand the interactions between these working fields and the resulting impact on the interesting topic of Aero and Vibroacoustics of Automotive Turbochargers.

Discrete Control Systems establishes a basis for the analysis and design of discretized/quantized control systems for continuous physical systems. Beginning with the necessary mathematical foundations and system-model descriptions, the text moves on to derive a robust stability condition. To keep a practical perspective on the uncertain physical systems considered, most of the methods treated are carried out in the frequency domain. As part of the design procedure, modified Nyquist-Hall and Nichols diagrams are presented and discretized proportional-integral-derivative control schemes are reconsidered. Schemes for model-reference feedback and discrete-type observers are proposed. Although single-loop feedback systems form the core of the text, some consideration is given to multiple loops and nonlinearities. The robust control performance and stability of interval systems (with multiple uncertainties) are outlined. Finally, the monograph describes the relationship between feedback-control and discrete event systems. The nonlinear phenomena associated with practically important event-driven systems are elucidated. The dynamics and stability of finite-state and discrete-event systems are defined. Academic researchers interested in the uses of discrete modelling and control of continuous systems will find Discrete Control Systems instructive. The inclusion of end-of-chapter problems also makes the book suitable for use in self study either by professional control engineers or graduate students supplementing a more formal regimen of learning.

This book presents a domain of extreme industrial and scientific interest: the study of smart systems and structures. It presents polytope projects as comprehensive physical and cognitive architectures that support the investigation, fabrication and implementation of smart systems and structures. These systems feature multifunctional components that can perform sensing, control, and actuation. In light of the fact that devices, tools, methodologies and organizations based on electronics and information technology for automation, specific to the third industrial revolution, are increasingly reaching their limits, it is essential that smart systems be implemented in industry. Polytope projects facilitate the utilization of smart systems and structures as key elements of the fourth industrial revolution. The book begins by presenting polytope projects as a reference architecture for cyber-physical systems and smart systems, before addressing industrial process synthesis in Chapter 2. Flow-sheet trees, cyclic separations and smart configurations for multi-component separations are discussed here. In turn, Chapter 3 highlights periodic features for drug delivery systems and networks of chemical reactions, while Chapter 4 applies conditioned random walks to polymers and smart materials structures. Chapter 5 examines self-assembly and self-reconfiguration at different scales from molecular to micro systems. Smart devices and technologies are the focus of chapter 6. Modular micro reactor systems and timed automata are examined in selected case studies. Chapter 7 focuses on inferential engineering designs, concept-knowledge, relational concept analysis and model driven architecture, while Chapter 8 puts the spotlight on smart manufacturing, industry 4.0, reference architectures and models for new product development and testing. Lastly, Chapter 9 highlights the polytope projects methodology and the prospects for smart systems and structures. Focusing on process engineering and mathematical modeling for the fourth industrial revolution, the book offers a unique resource for engineers, scientists and entrepreneurs working in chemical, biochemical, pharmaceutical, materials science or systems chemistry, students in various domains of production and engineering, and applied mathematicians.

This book introduces the reader in a systematical way to the design philosophy behind vector control systems. The mathematical motor models based on complex-space vector descriptions as well as the control structures for DC motors provide a perfect basis for explaining the principles of AC motor vector control. An in-depth review of electromagnetic transients in induction motors under various methods of frequency control is given. This is explained with the help of appropriate block schemes and new equivalent circuits. Properties of AC motors under non-sinusoidal supply are reviewed. The basic power converter topologies applied in motor control technology as well as symmetry and loss reduction problems are discussed. Some examples of controller design methods are presented step by step. An important feature of the book is that it contains many examples of systems applied in practical engineering as well as simulation and experimental results. The volume will be of interest to all those familiar with the basics of electrical machines and control systems theory. Therefore, it is recommended to students of electrical, electronics and mechanics departments. The book can also be used by those working in industry, who are interested in modern power electronics, drives and motion control, robotics as well as automation of industrial processes.

Presenting current trends in the development and applications of intelligent systems in engineering, this monograph focuses on recent research results in system identification and control. The recurrent neurofuzzy and the fuzzy cognitive network (FCN) models are presented.Both models are suitable for partially-known or unknown complex time-varying systems. Neurofuzzy Adaptive Control contains rigorous proofs of its statements which result in concrete conclusions for the selection of the design parameters of the algorithms presented. The neurofuzzy model combines concepts from fuzzy systems and recurrent high-order neural networks to produce powerful system approximations that are used for adaptive control. The FCN modelstems from fuzzy cognitive maps and uses the notion of concepts and their causal relationships to capture the behavior of complex systems. The book shows how, with the benefit of proper training algorithms, these models are potent system emulators suitable for use in engineering systems.All chapters are supported by illustrative simulation experiments, while separate chapters are devoted to the potential industrial applications of each model including projects in:

contemporary power generation;

process control and

conventional benchmarking problems.

Researchers and graduate students working in adaptive estimation and intelligent control will find Neurofuzzy Adaptive Control of interest both for the currency of its models and because it demonstrates their relevance for real systems. The monograph also shows industrial engineers how to test intelligent adaptive control easily using proven theoretical results."