A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in robotics, automobile, manufacturing, medicine and aerospace industry. This is the first monograph that introduces the research on spherical actuators systematically. It broadens the scope of actuators from conventional single-axis to multi-axis, which will help both beginners and researchers to enhance their knowledge on electromagnetic actuators. Generic analytic modeling methods for magnetic field and torque output are developed, which can be applied to the development of other electromagnetic actuators. A parametric design methodology that allows fast analysis and design of spherical actuators for various applications is proposed. A novel non-contact high-precision 3-DOF spherical motion sensing methodology is developed and evaluated with experiments, which shows that it can achieve one order of magnitude higher precision than conventional methods. The technologies of nondimensionalization and normalization are introduced into magnetic field analysis the first time, and a benchmark database is established for the reference of other researches on spherical actuators.

The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term, that branch of kinematics research involving intensive computations not only of the numer ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu tions, and the question as to the number of solutions to expect still remains."

An understanding ofthe properties and the handling characteristics of liquids and gases has long been regarded as an essential requirement for most practising engineers. It is therefore not surprising that, over the years, there has been a regular appearance of books dealing with the fundamentals of fluid mechanics, fluid flow, hydraulics and related topics. What is surprising is that there has been no parallel development of the related discipline of Bulk Solids Handling, despite its increasing importance in modern industry across the world. It is only very recently that a structured approach to the teaching, and learning, of the subject has begun to evolve. A reason for the slow emergence of Bulk Solids Handling as an accepted topic of study in academic courses on mechanical, agricultural, chemical, mining and civil engineering is perhaps that the practice is so often taken for granted. Certainly the variety of materials being handled in bulk is almost endless, ranging in size from fine dust to rocks, in value from refuse to gold, and in temperature from deep-frozen peas to near-molten metal.

This book provides a comprehensive treatment of the cavitation erosion phenomenon and state-of-the-art research in the field. It is divided into two parts. Part 1 consists of seven chapters, offering a wide range of computational and experimental approaches to cavitation erosion. It includes a general introduction to cavitation and cavitation erosion a detailed description of facilities and measurement techniques commonly used in cavitation erosion studies, an extensive presentation of various stages of cavitation damage (including incubation and mass loss) and insights into the contribution of computational methods to the analysis of both fluid and material behavior. The proposed approach is based on a detailed description of impact loads generated by collapsing cavitation bubbles and a physical analysis of the material response to these loads. Part 2 is devoted to a selection of nine papers presented at the International Workshop on Advanced Experimental and Numerical Techniques for Cavitation Erosion Prediction(Grenoble, France, 1-2 March 2011) representing the forefront of research on cavitation erosion. Innovative numerical and experimental investigations illustrate the most advanced breakthroughs in cavitation erosion research. "

This report describes the work performed by Lockheed Palo Alto Research Labora tory, Palo Alto, California 94304. The work was sponsored by Air Force Office of Scientific Research, Bolling AFB, Washington, D. C. under Grant F49620-77-C-0l22 and by the Flight Dynamics Laboratory, Air Force Wright Aeronautical Laboratories, Wright-Patterson AFB, Ohio under Contract F3361S-76-C-31OS. The work was completed under Task 2307Nl, "Basic Research in Behavior of Metallic and Composite Components of Airframe Structures." The work was admini stered by Lt. Col. J. D. Morgan (AFOSR) and Dr. N. S. Khot (AFWAL/FIBRA). The contract work was performed between October 1977 and December 1980. The technical report was released by the Author in December 1981. Preface Many structures are assembled from parts which are thin. For example, a stiffened plate or cylindrical panel is composed of a sheet the thickness of which is small com pared to its length, breadth, and stiffener- spacing, and stiffeners the thickness of which is small compared to their _ heights and lengths. These assembled structures, loaded in compression, can buckle overall, that is sheet and stiffeners can collapse together in a general instability mode; the sheet can buckle locally between stiffeners; the stiffeners can cripple; and a variety of complex buckling interactions can occur involving local and overall deformations of both sheet and stiffeners. More complex, built-up structures can buckle in more complex and subtle ways."

Synergistic integration of smart materials, structures, sensors, actuators and control electronics has redefined the concept of"structures" from a conventional passive elastic system to an active controllable structronic (structure +electronic) system with inherent self-sensing, diagnosis, and control capabilities. Such structronic systems can be used as components of high performance systems or can be an integrated structure itself performing designated functions and tasks. Due to the multidisciplinary nature of structronic systems their development has attracted researchers and scientists from theoretical and applied mechanics and many other disciplines, such as structures, materials, control, electronics, computers, mathematics, manufacturing, electromechanics, etc., see Figure I. This field was first introduced about mid-80 and it is quickly becoming a new emerging field recognized as one ofthe key technologies of 51 the 21 century. This new field focuses on not only multi-field and multi-discipline integrations, but has also enormous practical applications impacting many industries and enriching human living qualities. Structures (Systemill, Monitoring. . . ) (Non-homogeneous & Incompatible Structures) Electromechanics I StrucTranics I (SmartStructures) ___. I Mechanics (Solid, (Intelligent Structural Systems) Fracture, Fatigue. . . ) DynamicslKinematics & Vibration Figure I Multi-disciplinary integration ofstructronic systems. To reflect the rapid development in smart structures and structronic systems, the objective of the IUTAM 2000 Symposium on Smart Structures and Structronic Systems, the first IUTAM symposium in this new emerging area, is to provide a forum to discuss recent research advances and future directions or trends in this field.

These volumes contain the contributions to the Second European Conference on Unsaturated Soils, E-UNSAT 2012, held in Napoli, Italy, in June 2012. The event is the second of a series of European conferences, and follows the first successful one, organised in Durham, UK, in 2008. The conference series is supported by Technical Committee 106 of the International Society of Soil Mechanics and Geotechnical Engineering on Unsaturated Soils. The published contributions were selected after a careful peer-review process. A collection of more than one hundred papers is included, addressing the three thematic areas experimental, including advances in testing techniques and soil behaviour, modelling, covering theoretical and constitutive issues together with numerical and physical modelling, and engineering, focusing on approaches, case histories and geo-environmental themes. The areas of application of the papers embrace most of the geotechnical problems related to unsaturated soils. Increasing interest in geo-environmental problems, including chemical coupling, marks new perspectives in unsaturated soil mechanics. This book will provide a valuable up-to-date reference across the subject for both researchers and practitioners.

In-fl ight simulation experiments performed in 1967 with a variable-stabil ity aircraft during the author's stay at Princeton University, motivated the study of handl ing characteristics of future transport aircraft with closed-loop fl ight control systems. In 1972, the first experiment took place at the National Aerospace Laboratory NLR, using one of its research aircraft. In anticipation of expected developments in (digital) fl ight control technology, the research programme following the first experiments was aimed at the establ ishment of quantitative handl ing qual ities criteria. An appreciable part of that programme has been sponsored by the Netherlands Agency for Aerospace Programs (Nederlands Instituut voor VI iegtuigontwikkel ing en Ruimtevaart) and the Department of Civil Aviation of the Netherlands (Rijksluchtvaartdienst). In 1981, a thorough review of the extensive and valuable data gathered was started. The result, presented in this book, was also included in the author's thesis for a Ph.D. degree of the Delft University of Technology. To introduce the reader to the multi-discipl inary field of handl ing qual ities research, introductory chapters are presented on longitudinal aircraft dynamics, closed-loop fl ight control systems using non-mechanical signal transmission, human pilot dynamics, hand I ing qual ities assessment techniques, and the present status of handl ing qual ity criteria.

Focussing on occurrences of unstable vibrations, or Chatter, in machine tools, this book gives important insights into how to eliminate chatter with associated improvements in product quality, surface finish and tool wear.

Covering a wide range of machining processes, including turning, drilling, milling and grinding, the author uses his research expertise and practical knowledge of vibration problems to provide solutions supported by experimental evidence of their effectiveness. In addition, this book contains links to supplementary animation programs that help readers to visualise the ideas detailed in the text.

Advancing knowledge in chatter avoidance and suggesting areas for new innovations, Chatter and Machine Tools serves as a handbook for those desiring to achieve significant reductions in noise, longer tool and grinding wheel life and improved product finish.

The scientific description of processes involved in the powerful release of energy from high explosive materials remains one of the most complex problems confronting modern science. In spite of fifty years of concentrated research built upon careful and precise experiments and the massive use of modern computers, the problem remains a major challenge. Anatoliy N. Dremin is recognized as perhaps the most innovative contributor to detonation science and this book provides unique insights into the physics, chemistry, and mechanics relevant to initiation and sustenance of detonation processes. The book presents theories, both conventional and unusual, for describing the processes as well as the experimental challenges to theory and modeling. An unusually valuable contribution to modern science, it will be required reading for any serious student of energetic materials and powerful, high-energy processes.

This book is a collection of experimental studies demonstrating structure-function relationships in various biological systems having particular surface specialization to increase/decrease friction and adhesion. Studies on snake skin, adhesive pads, wing-interlocking devices and sticky mouthparts of insects as well as anti-adhesive and adhesive surfaces of plants are included in the volume containing four main subsections: (1) adhesion, (2) friction, (3) attachment-devices, (4) attachment-related behavior. Numerous experimental methods for characterizing tribological properties of biological surfaces at macro-, micro-, and nanoscale levels are demonstrated. This book is an excellent collection of publications on biotribology for both engineers and physicists working with biological systems as well as for biologists studying friction and adhesion. Inspirations from biology reported here may be also potentially interesting for biomimetics.

A thoroughly accessible and engaging workbook-style text, ideal for all NVQ students, including Foundation Modern Apprentices. Mechanical Engineering: Level 2 NVQ is a practical and interactive engineering book, written by practicing lecturers and designed for college students and Foundation Modern Apprentices. A highly readable text is supported by numerous assignments provided to build up a portfolio of evidence. Designed so that students can complete the blanks this book can be used as evidence for assessment purposes and as an essential reference guide for their subsequent employment.

This book covers the mandatory units (1-3), general support units (4-5) and option units (10-12) required to deliver a full NVQ programme. Key Skills activities are also provided at the relevant points through the book.

Mechanical Engineering: NVQ2 is a new single-volume text for the new Performing Engineering Operations NVQs from EMTA and City & Guilds updated and expanded from David Salmon's popular NVQ titles:

NVQ Engineering Manufacture: Mandatory Units

NVQ Engineering: Mechanical Option Units

Table of Contents

Preface; Chapter/unit references; Introduction for candidates; Introduction for trainers; Working safely in an engineering environment; Developing yourself and working with other people on engineering activities; Communicating using engineering drawings; Communicating technical information in the workplace; Identifying and selecting engineering materials; Checking workpieces for accuracy; Marking out for engineering activities; Fitting using hand skills; Machining engineering materials by turning; Machining engineering materials by milling; Using computer software packages to assist with engineering activities; Problem solving; Appendices; Index

This book addresses the behavior of inorganic material in combustion systems. The past decade has seen unprecedented improvements in understanding the rates and mecha nisms of inorganic transformations and in developing analytical tools to predict them. These tools range from improved fuel analysis procedures to predictive computer codes. While this progress has been met with great enthusiasm within the research community, the practices of the industrial community remain largely unchanged. The papers in this book were selected from those presented at an Engineering Foundation Conference of the same title. All have been peer reviewed. The intent of the conference was to illustrate the application of advanced technology to ash-related problems in boilers and, by so doing, engage the research and industrial communities in more productive dialog. Those attending the conference generally felt that we were successful on these counts. We also engaged the industrial community to a greater extent than ever before in the conference discussion and presentation. We hope these proceedings will facilitate a continued and improved interaction between industrial and research communities. Behavior of inorganic material has long been recognized as one of the major considerations affecting the design and operation of boilers that burn ash-producing fuels. The practical problems associated with the behavior are sometimes catastrophic and spec tacular, ranging from major slag falls that damage the bottom of furnaces to complete plugging of convection passes."

Over the last forty years, plasma supported processes have attracted ever - creasing interest, and now, all modern semiconductor devices undergo at least one plasma-involved processing step, starting from surface cleaning via coating to etching. In total, the range of the treated substrates covers some orders of magnitude: Trenches and linewidths of commercially available devices have - ready passed the boundary of 100 nm, decorative surface treatment will happen 2 in the mm range, and the upper limit is reached with surface protecting layers of windows which are coated with ?/4 layers against IR radiation. The rapid development of the semiconductor industry is inconceivable wi- outthegiantprogressintheplasmatechnology.Moore'slawisnotcarvedinto 1 stone, and not only the ITRS map is subject to change every ?ve years but also new branches develop and others mingle together. Moreover, the quality of conventional materials can be improved by plasma treatment: Cottonbecomesmorecrease-resistant, leathermoredurable, andthe shrinking of wool ?bers during the washing process can be signi?cantly reduced. To cut a long story short: More than 150 years after the discovery of the sputtering e?ect by Grove, plasma-based processes are about to spread out into new ?elds of research and application 1]-no wonder that the market for etching machines kept growing by an annual rate of 17 % up to the burst of the internet bubble, and it took only some years of recovery to continue the voyage 2].

The papers collected in this volume address all aspects related to thermofluidynamic processses in Diesel engines, from basic studies aiming to obtain a better understanding of the physical processes underlying diesel engine operation, to the real day-to-day problems associated with engine development. The topics covered comprise: Air management, injection systems, spray development and air interaction, combustion and pollutant formation, emission control strategies, and new concepts.

The book presents a complete new methodology for the on-board measurements and modeling of gas concentrations in turbocharged diesel engines. It provides the readers with a comprehensive review of the state-of-art in NOx and lambda estimation and describes new important achievements accomplished by the author. These include: the online characterization of lambda and NOx sensors; the development of control-oriented models of lambda and NOx emissions; the design of computationally efficient updating algorithms; and, finally, the application and evaluation of the methods on-board. Because of its technically oriented approach and innovative findings on both control-oriented algorithms and virtual sensing and observation, this book offers a practice-oriented guide for students, researchers and professionals working in the field of control and information engineering.

Two key words for mechanical engineering in the future are Micro and Intelligence. It is weIl known that the leadership in the intelligence technology is a marter of vital importance for the future status of industrial society, and thus national research projects for intelligent materials, structures and machines have started not only in advanced countries, but also in developing countries. Materials and structures which have self-sensing, diagnosis and actuating systems, are called intelligent or smart, and are of growing research interest in the world. In this situation, the IUT AM symposium on Dynamics 0/ Advanced Materials and Smart Structures was a timely one. Smart materials and structures are those equipped with sensors and actuators to achieve their designed performance in achanging environment. They have complex structural properties and mechanical responses. Many engineering problems, such as interface and edge phenomena, mechanical and electro-magnetic interaction/coupling and sensing, actuating and control techniques, arise in the development ofintelligent structures. Due to the multi-disciplinary nature ofthese problems, all ofthe classical sciences and technologies, such as applied mathematics, material science, solid and fluid mechanics, control techniques and others must be assembled and used to solve them. IUTAM weIl understands the importance ofthis emerging technology. An IUTAM symposium on Smart Structures and Structronic Systems (Chaired by U.

The ninth International Cryogenic Materials Conference (ICMC) was held on the campus of the University of Alabama at Huntsville (UAH) in collaboration with the Cryogenic Engineering Conference (CEC) on June 11-14, 1991. The continuing bond between these two major conferences in the field of cryogenics is indicative of the extreme interdependence of their subject matter. The major purpose of the conference is sharing of the latest advances in low temperature materials science and technology. However, the many side benefits which accrue when this many experts gather, such as identification of new research areas, formation of new collaborations which often cross the boundaries of both scientific discipline and politics, and a chance for those new to the field to meet the old-timers, may override the stated purpose. This 1991 ICMC was chaired by F. R. Fickett of the National Institute of Standards and Technology. K. T. Hartwig, of Texas A&M served as Program Chairman with the assistance of eleven other Program Committee members. We especially appreciate the contributions of the CEC board and its Conference Chairman, J. Hendricks of Alabama Cryogenic Engineering, to the organization. of this joint conference. UAH hosted the conference. The local arrangements and management, under the watchful eye of Ann Yelle and Mary Beth Magathan of the UAH conference staff, were excellent. Participation in the CEC/ICMC continues to exceed expectations with 650 registrants for the combined conference.

The 1995 International Cryogenic Materials Conference (lCMC) was held at the Greater Columbus Convention Center in Columbus, Ohio, in conjunction with the Cryogenic Engineering Conference (CEC) on July 17-21. The interdependent subjects of the two conferences attracted more than eight hundred participants, who came to share the latest advances in low-temperature materials science and technology. They also came for the important by products of the conferences: identification of new research areas, of collaborative research possibilities, and the establishment and renewal of exploration professional relationships. Ted Collings (Ohio State University), as Chairmen of the 1995 ICMC; Ted Hartwig (Texas A&M University), as Program Chairman; and twenty-one other Program Committee members expertly arranged the ICMC technical sessions and related activities. The contributions of the CEC board and its Conference Chairman James B. Peeples of CVI, Inc., were central to the success of the eleventh CEC/ICMC. Jeff Bergen of Lake Shore Cryogenics served as Exhibits Chairman. Local arrangements and conference management were expertly handled under the guidance of Centennial Conferences, Inc. Skillful assistance with editing and preparation ofthese proceedings was provided by Ms. Vicky Bardos ofSynchrony, Inc.