This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system's development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots' homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.

This book includes the volume 1 of the proceedings of the 2012 International Conference on Mechanical and Electronic Engineering(ICMEE2012), held at June 23-24,2012 in Hefei, China. The conference provided a rare opportunity to bring together worldwide researchers who are working in the fields. This volume 1 is focusing on Mechanical Engineering and Automation as well as Vehicle Engineering and Technology.

Classical and Analytical Mechanics: Theory, Applied Examples, and Practice provides a bridge between the theory and practice related to mechanical, electrical, and electromechanical systems. It includes rigorous mathematical and physical explanations while maintaining an interdisciplinary engineering focus. Applied problems and exercises in mechanical, mechatronic, aerospace, electrical, and control engineering are included throughout and the book provides detailed techniques for designing models of different robotic, electrical, defense, and aerospace systems. The book starts with multiple chapters covering kinematics before moving onto coverage of dynamics and non-inertial and variable mass systems. Euler's dynamic equations and dynamic Lagrange equations are covered next with subsequent chapters discussing topics such as equilibrium and stability, oscillation analysis, linear systems, Hamiltonian formalism, and the Hamilton-Jacobi equation. The book concludes with a chapter outlining various electromechanical models that readers can implement and adapt themselves.

This book is the first monograph focusing on ellipsoidal heads, which are commonly used as an end closure of pressure vessels in chemical, petroleum, nuclear, marine, aerospace and food processing industries. It provides a comprehensive coverage of stress, failure, design and fabrication of ellipsoidal heads. This book investigates in detail buckling/plastic collapse behaviors of ellipsoidal heads using nonlinear finite element methods and experiments. Buckling/plastic collapse experiments are performed on 37 ellipsoidal heads which cover various geometric parameters, material and fabrication methods. In particular, modern measurement technologies, such as 3D laser scanning, are used in the experiments of these ellipsoidal heads including large heads with a diameter up to 5 metres. Moreover, this book presents new formulas for accurate prediction of buckling/plastic collapse pressures of ellipsoidal heads. Using elastic-plastic theory, this book proposes a new failure mechanism-based method for design of ellipsoidal heads. Compared to other methods in current codes and standards based on elastic or perfectly plastic theory, the new design method can fully develop the head's load-carrying capacity, which reduces head thickness and thus cost. Also, this book studies control on fabrication quality of ellipsoidal heads, including shape deviation, forming strain and forming temperature. It is useful as a technical reference for researchers and engineers in the fields of engineering mechanics, engineering design, manufacturing engineering and industrial engineering.

This book introduces the engineering application of the discrete element method (DEM), especially the simulation analysis of the typical equipment (scraper conveyor, coal silos, subsoiler) in the coal and agricultural machinery. In this book, the DEM is applied to build rigid and loose coupling model, and the kinematic effect of the bulk materials, the mechanical effect of the interaction between the bulk materials, and the mechanical equipment in the operation process of the relevant equipment are studied. On this basis, the optimization design strategy of the relevant structure is proposed. This book effectively promotes the application of DEM in engineering, analyzes the operation state, failure mechanism, and operation effect of related equipment in operation, and provides theoretical basis for the optimal design of equipment. The book is intended for undergraduate and graduate students who are interested in mechanical engineering, researchers investigating coal and agricultural machinery, and engineers working on designing related equipments.

Pumping Machinery Theory and Practice comprehensively covers the theoretical foundation and applications of pumping machinery. Key features: * Covers characteristics of centrifugal pumps, axial flow pumps and displacement pumps * Considers pumping machinery performance and operational-type problems * Covers advanced topics in pumping machinery including multiphase flow principles, and two and three-phase flow pumping systems * Covers different methods of flow rate control and relevance to machine efficiency and energy consumption * Covers different methods of flow rate control and relevance to machine efficiency and energy consumption

The simulation of complex engineering problems often involves an interaction or coupling of individual phenomena, which are traditionally related by themselves to separate fields of applied mechanics. Typical examples of these so- called multifield problems are the thermo-mechanical analysis of solids with coupling between mechanical stress analysis and thermal heat transfer processes, the simulation of coupled deformation and fluid transport mechanisms in porous media, the prediction of mass transport and phase transition phenomena of mixtures, the analysis of sedimentation proces- ses based on an interaction of particle dynamics and viscous flow, the simulation of multibody systems and fluid-structure interactions based on solid-to-solid and solid-to-fluid contact mechanisms.

This book gathers the latest advances, innovations, and applications in the field of multibody and mechatronic systems. Topics addressed include the analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems for rehabilitation and assistive technologies; mechatronic systems for energy harvesting; virtual reality integration in multibody and mechatronic systems; multibody design in robotic systems; and control of mechatronic systems. The contents reflect the outcomes of the 7th International Symposium on Multibody Systems and Mechatronics (7th MuSMe) in 2020, within the framework of the FEIbIM Commission for Robotics and Mechanisms and IFToMM Technical Committees for Multibody Dynamics and for Robotics and Mechatronics.

Nonconvexity and nonsmoothness arise in a large class of engineering applica tions. In many cases of practical importance the possibilities offered by opti mization with its algorithms and heuristics can substantially improve the per formance and the range of applicability of classical computational mechanics algorithms. For a class of problems this approach is the only one that really works. The present book presents in a comprehensive way the application of opti mization algorithms and heuristics in smooth and nonsmooth mechanics. The necessity of this approach is presented to the reader through simple, represen tative examples. As things become more complex, the necessary material from convex and nonconvex optimization and from mechanics are introduced in a self-contained way. Unilateral contact and friction problems, adhesive contact and delamination problems, nonconvex elastoplasticity, fractal friction laws, frames with semi rigid connections, are among the applications which are treated in details here. Working algorithms are given for each application and are demonstrated by means of representative examples. The interested reader will find helpful references to up-to-date scientific and technical literature so that to be able to work on research or engineering topics which are not directly covered here."

This book offers a comprehensive review of the various options for improving the performance of overhead power lines in winter conditions, taking into account both mechanical and electrical aspects. Experience within the CIGRE community reveals many strategies to protect overhead power lines from damage caused by heavy build-up of ice and snow or electrical issues such as insulator icing flashovers. The initial approach is to consider the predicted ice loads from the available databases. This is supplemented with some fundamental aspects of icing physics that affect accretion rate as well as factors in ice shedding on traditional (metal, ceramic) and novel treated surfaces. These ice physics concepts structure the ways to categorize and evaluate methods to reduce or prevent icing on conductors and ground wires or to prevent flashover of insulators. Many utilities in cold climate regions have developed and used methods and strategies to reduce ice loads using anti-icing (AI) and / or de-icing (DI) methods. In general, AI methods are used before or early during ice build-up, while DI methods are activated during and sometimes after ice build-up. The book describes and discusses some historical, operational, or potential AI / DI systems in the ice physics context. This supports a comprehensive review of AI coatings including concepts, relevant material properties, application methods, and finally test methods for characterizing the long-term performance.

This book discusses the scientific process of biomass compaction, focusing on pressing chamber parameters and their influence on the quality of extrusions from biomass. It yields new knowledge in the field of wood biomass pressing technology and contains a thorough and detailed theoretical analysis of the pressing chamber of pressing machines and the influence they have on the resulting quality of extrusions. Coverage includes the proposal and evaluation of experimental research dealing with the definition of different pressing chamber parameters in pressing machines and their effects on the quality of extrusions; definition and specification of the dependencies of chamber parameters based on the resulting quality of extrusion, given by the mechanical indicators of quality, are also explored. Furthermore, the work describes the design and manufacture of an experimental pressing stand, which allows for experiments to be performed determining the effects that some technological, material, and construction parameters have on the resulting quality of extrusions. The desired pressing method, length, and conicity of the pressing chamber are experimentally determined through the uniaxial compaction of wood biomass where results and dependencies are expressed graphically. Biomass Compaction: The Effects of Pressing Chamber Design Parameters on Extrusion Quality will be a welcomed resource for researchers and engineers working for producers of solid biofuels from biomass, densification (briquetting, pelleting), or compacting machines producers, as well as technology plant operators and those working in the biomass treatment area.

Gradient-Enhanced Continuum Plasticity provides an expansive review of gradient-enhanced continuum plasticity from the initial stage to current research trends in experimental, theoretical, computational and numerical investigations. Starting with an overview of continuum mechanics and classical plasticity, the book then delves into concise lessons covering basic principles and applications, such as outlining the use of the finite element method to solve problems with size effects, mesh sensitivity and high velocity impact loading. All major theories are explored, providing readers with a guide to understanding the various concepts of and differences between an array of gradient-enhanced continuum plasticity models.

Modeling, Optimization and Control of Zinc Hydrometallurgical Purification Process provides a clear picture on how to develop a mathematical model for complex industrial processes, how to design the optimization strategy, and how to apply control methods in order to achieve desired production target. This book shares the authors' recent ideas/methodologies/algorithms on the intelligent manufacturing of complex industry processes, e.g., how to develop a descriptive framework which could enable the digitalization and visualization of a process and how to develop the controller when the process model is not available.

Modelling is an activity that is found in every domain of research and science, and takes place even when we are not aware of it. The role of modelling and the quality of models are extremely important not only in engineering but for science in general. Modelling in Mechanical Engineering and Mechatronics presents a model-centred approach focusing on distributed development and use of autonomous intelligent software models, particularly the efficiency of the models, and their interaction and integration into distributed autonomous intelligent systems. In order to systematise the available knowledge, a domain ontology is presented; a subset of which is used to create a modelling theory based on knowledge and experience in the areas of software engineering, mechanical engineering and mechatronics. This holistic view of modelling explains the purpose and the essence of modelling, as well as the benefits that are to be expected. It discusses the relations to other branches of engineering and science and as a result, it demonstrates strategies, methods and tools for unleashing the full power of modelling. Modelling in Mechanical Engineering and Mechatronics considers the viewpoints of many different experts: the modeller, engineer, system architect, software developer, and users of the models and as such will be of interest to all these people. Moreover, it attempts to bridge the gaps between modelling, engineering, computer science, knowledge representation, software engineering, model integration, standardisation and production engineering. The aim is to instruct the reader how to efficiently simulate sophisticated products and processes in mechanical engineering in view of theircontinuously increasing complexity in a modern knowledge-based society.

Heat Transfer Principles and Applications is a welcome change from more encyclopedic volumes exploring heat transfer. This shorter text fully explains the fundamentals of heat transfer, including heat conduction, convection, radiation and heat exchangers. The fundamentals are then applied to a variety of engineering examples, including topics of special and current interest like solar collectors, cooling of electronic equipment, and energy conservation in buildings. The text covers both analytical and numerical solutions to heat transfer problems and makes considerable use of Excel and MATLAB (R) in the solutions. Each chapter has several example problems and a large, but not overwhelming, number of end-of-chapter problems.

The book deals with the most accurate method to describe thermodynamic property data, with empirical multiparameter equations of state. Due to new theoretical approaches, to increasing demands on the accuracy of thermodynamic property data, and to increasing computer power such equations became a valuable tool for every day calculations in scientific and engineering applications, rather than just the basis of printed property charts and tables. The book is dedicated both to users, who apply such formulations either in form of commercially available software or in form of programs written by themselves, and to scientists engaged in the development of empirical equations of state. Starting from a brief history, it covers the fundamentals of this subject as well as the most recent developments in the fields of highly accurate reference equations, of equations for advanced technical applications, and of the description of mixtures with multiparameter equations of state.

For courses in Engineering Design. Engineering By Design introduces students to a broad range of important design topics. The engineering design process provides the skeletal structure for the text, around which is wrapped numerous cases that illustrate both successes and failures in engineering design. The text provides a balance of qualitative presentation of engineering practices that can be understood by students with little technical knowledge and a more quantitative approach in which substantive analytical techniques are used to develop and evaluate proposed engineering solutions. This flexibility means that the text can be used in a wide variety of courses.

The text is designed for undergraduate Mechanical Engineering courses in Kinematics and Dynamics of Machinery. It is a tool for professors who wish to develop the ability of students to formulate and solve problems involving linkages, cams, gears, robotic manipulators and other mechanisms. There is an emphasis on understanding and utilizing the implications of computed results. Students are expected to explore questions like "What do the results mean?" and "How can you improve the design?"

Transient friction effects determine the behavior of a wide class of mechatronic systems. Classic examples are squealing brakes, stiction in robotic arms, or stick-slip in linear drives. To properly design and understand mechatronic systems of this type, good quantitative models of transient friction effects are of primary interest. The theory developed in this book approaches this problem bottom-up, by deriving the behavior of macroscopic friction surfaces from the microscopic surface physics. The model is based on two assumptions: First, rough surfaces are inherently fractal, exhibiting roughness on a wide range of scales. Second, transient friction effects are caused by creep enlargement of the real area of contact between two bodies. This work demonstrates the results of extensive Finite Element analyses of the creep behavior of surface asperities, and proposes a generalized multi-scale area iteration for calculating the time-dependent real contact between two bodies. The toolset is then demonstrated both for the reproduction of a variety of experimental results on transient friction as well as for system simulations of two example systems.

Junior or Senior level Vibration courses in Departments of Mechanical Engineering. A thorough treatment of vibration theory and its engineering applications, from simple degree to multi degree-of-freedom system.

This book describes the theoretical framework of parallel manipulators and presents examples of their application. The theoretical part begins with the theory of parallel manipulator synthesis. Working on this basis, various topology designs of one-loop and multiloop parallel manipulators are then obtained. The next section describes the zero parameters method for the analysis of mechanism (manipulator) structure with closed kinematic circuits, and includes examples of its application, highlighting its advantages compared to traditional methods. The book then presents the redundant parameters method for determining the position of special parallel manipulator links, and discusses its application in solving the direct problem of link position for multiloop manipulators. It also addresses one-loop and multiloop manipulators, and includes a solution for the direct and inverse link position problems of kinematics. In closing, the book presents a range of potential applications for parallel manipulator. These examples are intended to promote the development and implementation of new engineering solutions, e.g. in seismic protection systems, renewable energy and other areas. The book includes a wealth of material that can be used for teaching undergraduate, graduate and PhD students majoring in robotics, automation and related fields, and can also be used by researchers to solve problems in connection with introducing robotics technologies.

This book is based on the author's lecture notes for his Introductory Newtonian Mechanics course at the Hellenic Naval Academy. In order to familiarize students with the use of several basic mathematical tools, such as vectors, differential operators and differential equations, it first presents the elements of vector analysis that are needed in the subsequent chapters. Further, the Mathematical Supplement at the end of the book offers a brief introduction to the concepts of differential calculus mentioned. The main text is divided into three parts, the first of which presents the mechanics of a single particle from both the kinetic and the dynamical perspectives. The second part then focuses on the mechanics of more complex structures, such as systems of particles, rigid bodies and ideal fluids, while the third part consists of 60 fully solved problems. Though chiefly intended as a primary text for freshman-level physics courses, the book can also be used as a supplemental (tutorial) resource for introductory courses on classical mechanics for physicists and engineers