This book contains a systematical analysis of geometrical situations leading to contact pairs -- point-to-surface, surface-to-surface, point-to-curve, curve-to-curve and curve-to-surface. Each contact pair is inherited with a special coordinate system based on its geometrical properties such as a Gaussian surface coordinate system or a Serret-Frenet curve coordinate system. The formulation in a covariant form allows in a straightforward fashion to consider various constitutive relations for a certain pair such as anisotropy for both frictional and structural parts. Then standard methods well known in computational contact mechanics such as penalty, Lagrange multiplier methods, combination of both and others are formulated in these coordinate systems. Such formulations require then the powerful apparatus of differential geometry of surfaces and curves as well as of convex analysis. The final goals of such transformations are then ready-for-implementation numerical algorithms within the finite element method including any arbitrary discretization techniques such as high order and isogeometric finite elements, which are most convenient for the considered geometrical situation. The book proposes a consistent study of geometry and kinematics, variational formulations, constitutive relations for surfaces and discretization techniques for all considered geometrical pairs and contains the associated numerical analysis as well as some new analytical results in contact mechanics.

In the decades the of the formation of structures past subject spontaneous in far from has into a branch of - systems equilibrium major physics grown search with ties to It has become evident that strong neighboring disciplines. a diverse of can be understood within a common mat- phenomena range matical framework which has been called nonlinear of continuous dynamics This name the close to the field of nonlinear systems. emphasizes relationship of with few of freedom which has evolved into a dynamics systems degrees mature in the recent features mathematically subject past. Many dynamical of continuous be described reduction few can a to a systems actually through of freedom and of the latter of continue to degrees properties type systems of continuous the inspire study systems. The of this book is to demonstrate the numerous goal through examples that exist for the of nonlinear the opportunities study phenomena through tools of mathematical and use of common analyses dynamical interpretations. Instead of overview of the a providing comprehensive rapidly evolving field, the contributors to this book are to communicate to a wide scientific trying audience the of what have learnt about the formation of essence they spon- neous structures in continuous and about the dissipative systems competition between order and chaos that characterizes these It is that systems. hoped the book will be even to those scientists whose not helpful are disciplines the authors.

As the focus in materials science shifts towards designing materials at the sub-micron scale - the "nanotechnology" revolution - it becomes increasingly important to characterize the mechanical properties of thin films and small volumes of material. The development of of nanoscale probes and ultrasensitive transducers for force and depth has made such measurements possible. "Nanoindentation" testing is becoming increasingly used in a wide variety of research and manufacturing areas, ranging from the testing of silicon wafers in the electronics industry to the characterization of hard coatings and other surface treatments for cutting tools, dental restoratives and other biomedical implants, and optical components.This book presents a comprehensive and detailed overview of the field of nanoindentation. The underlying theory behind the extraction of elastic modulus, hardness and other properties from the load-displacement data is discussed along with the various systematic and materials-related corrections involved. Also covered are the various methods of testing, details of an international standard for depth-sensing indentation testing, the significance of surface forces and adhesion details of commercially available instruments, and sample applications of the technique. Self-contained, the treatment is aimed at those entering the field, but by bringing together material scattered widely throughout the research literature the book will also be a useful reference for the more experienced researcher.

A profusion of research and results on the mechanical behaviour of crystalline solids has followed the discovery of dislocations in the early thirties. This trend has been enhanced by the development of powerful experimental techniques. particularly X ray diffraction. transmission and scanning electron microscopy. microanalysis. The technological advancement has given rise to the study of various and complex materials. not to speak of those recently invented. whose mechanical properties need to be mastered. either for their lise as structural materials. or more simply for detenllining their fonnability processes. As is often the case this fast growth has been diverted both by the burial of early fundamental results which are rediscovered more or less accurately. and by the too fast publication of inaccurate results. which propagate widely. and are accepted without criticism. Examples of these statements abound. and will not be quoted here for the sake of dispassionateness. Understanding the mechanical properties of materials implies the use of various experimental techniques. combined with a good theoretical knowledge of elasticity. thermodynamics and solid state physics. The recent development of various computer techniques (simulation. ab initio calculations) has added to the difficulty of gathering the experimental information. and mastering the theoretical understanding. No laboratory is equipped with all the possible experimental settings. almost no scientist masters all this theoretical kno\vledge. Therefore. cooperation between scientists is needed more than even before.

This book provides an interdisciplinary presentation of the current knowledge of pattern formation in complex system, with sufficiently many details, tools, and concrete examples to be useful for the graduate student or scientist entering this area of research.

It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do.

Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots.

Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots to deal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot.

Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.

The book provides a rigorous axiomatic approach to continuum mechanics under large deformation. In addition to the classical nonlinear continuum mechanics - kinematics, fundamental laws, the theory of functions having jump discontinuities across singular surfaces, etc. - the book presents the theory of co-rotational derivatives, dynamic deformation compatibility equations, and the principles of material indifference and symmetry, all in systematized form. The focus of the book is a new approach to the formulation of the constitutive equations for elastic and inelastic continua under large deformation. This new approach is based on using energetic and quasi-energetic couples of stress and deformation tensors. This approach leads to a unified treatment of large, anisotropic elastic, viscoelastic, and plastic deformations. The author analyses classical problems, including some involving nonlinear wave propagation, using different models for continua under large deformation, and shows how different models lead to different results. The analysis is accompanied by experimental data and detailed numerical results for rubber, the ground, alloys, etc. The book will be an invaluable text for graduate students and researchers in solid mechanics, mechanical engineering, applied mathematics, physics and crystallography, as also for scientists developing advanced materials.

Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Motion and vibration control is a fundamental technology for the development of advanced mechanical systems such as rnechatrotrics, vehicle syatems, robots, spacecraft. and rotating machinery. Often the implementation of high performance, low power consumption designs is only possible with the use of this techology. It is also vital to the mitigation of natural hazards for large structures such as high-rise buildings and tall bridges, and to the application of flexible structures such as space stations and satellites. Recent innovations in relevant hardware, sendors, actuators, and software have facilitated new research in this area.

This book deals with the interdisciplinary aspects of emerging technologies of motion and vibration control for mechanical, civil and aerospace systems. It covers a broad range of applications (e.g. vehicle dynamics, senors, actuators, rotor dynamics, biologically inspired mechanics, humanoid robot dynamcics and control. etc.) and also provides advances in the field of fundamental research e.g. control of fluid/structure integration, nonlinar control theory, etc.

Each of the contributors is a recognised specialist in his field, and this gives the book relevance and authority in a wide range of areas.

This book tackles the problematic relationship between Platonic philosophy and Romantic poetry, between the intellect and the emotions. Drawing on contemporary critical theory, especially hermeneutics and deconstruction, the author shows that a dialogue between thinking and poetizing is possible. The volume yields many new insights into both Platonic and Romantic texts and forms an important work for scholars and students of Greek philosophy, Romantic literature and critical theory.

By providing all the basic knowledge needed to assess how useful active noise control will be for a given problem, this book assists in the designing, setting up, and tuning of an active noise-control system. Written for students who have no prior knowledge of acoustics, signal processing, or noise control but who do have a reasonable grasp of basic physics and mathematics, the text is short and descriptive, leaving all mathematical details and proofs concerning vibrations, signal processing and the like to more advanced texts or research monographs. The book can thus be used in independent study, in a classroom with laboratories, or in conjunction with a kit for experiment or demonstration. Topics covered include basic acoustics, human perception and sound, sound intensity and related concepts, fundamentals of passive noise- control strategies, basics of digital systems and adaptive controllers, and active noise control systems.

"Control from MEMS to Atoms" illustrates the use of control and control systems as an essential part of functioning integrated systems. The book is organized according to the dimensional scale of the problem, starting with micro-scale systems and ending with atomic-scale systems. Similar to macro-scale machines and processes, control systems can play a major role in improving the performance of micro- and nano-scale systems and in enabling new capabilities that would otherwise not be possible. However, the majority of problems at these scales present many new challenges that go beyond the current state-of-the-art in control engineering. This is a result of the multidisciplinary nature of micro/nanotechnology, which requires the merging of control engineering with physics, biology and chemistry.

In this book, leading scientists share their vision on the Kolsky-Hopkinson bar technique, which is a well-established experimental technique widely used to characterize materials and structures under dynamic, impact and explosion loads. Indeed, the Kolsky-Hopkinson bar machine is not a simple experimental device. It is rather a philosophical approach to solve the problem of measuring impact events. The split Hopkinson pressure bar conventional device is mainly limited to test homogeneous ductile non-soft materials under uni-axial compression. Extending the use of this device to more versatile applications faces several challenges such as controlling the stress state within the specimen and mastering the measurement of forces and velocities at the specimen-bar interfaces and then the material properties. Thus, the topics discussed in this book mainly focused on the loading and processing parts.

As any human activity needs goals, mathematical research needs problems -David Hilbert Mechanics is the paradise of mathematical sciences -Leonardo da Vinci Mechanics and mathematics have been complementary partners since Newton's time and the history of science shows much evidence of the ben eficial influence of these disciplines on each other. Driven by increasingly elaborate modern technological applications the symbiotic relationship between mathematics and mechanics is continually growing. However, the increasingly large number of specialist journals has generated a du ality gap between the two partners, and this gap is growing wider. Advances in Mechanics and Mathematics (AMMA) is intended to bridge the gap by providing multi-disciplinary publications which fall into the two following complementary categories: 1. An annual book dedicated to the latest developments in mechanics and mathematics; 2. Monographs, advanced textbooks, handbooks, edited vol umes and selected conference proceedings. The AMMA annual book publishes invited and contributed compre hensive reviews, research and survey articles within the broad area of modern mechanics and applied mathematics. Mechanics is understood here in the most general sense of the word, and is taken to embrace relevant physical and biological phenomena involving electromagnetic, thermal and quantum effects and biomechanics, as well as general dy namical systems. Especially encouraged are articles on mathematical and computational models and methods based on mechanics and their interactions with other fields. All contributions will be reviewed so as to guarantee the highest possible scientific standards."

This volume comprises over 50 contributions resulting from the Ocean Reverberation Symposium, held 25-29 May 1992 in La Spezia, Italy. The contributions are presented in eight sections: Scattering Mechanisms, High Frequency Measurements and Mechanisms, Reverberation Modelling, ARSRP Mid-Atlantic Ridge Experiment, Low Frequency Measurements, Volume Scattering, Signal Processing Issues and Applications. The work addresses the emerging trends in ocean reverberation research. The availability of high-power, low-frequency sources and highly directional arrays has brought with it the tools, and the need, to study long-range reverberation. The use of projector sources and various waveforms, rather than explosives, allows the use of signal processing techniques to enhance the extraction of information about the reverberation and scattering processes.

Inverse problems have a long history in acoustics, optics, electromagnetics and geophysics, but only recently have the signals provided by ocean acoustic sensors become numerous and sophisticated enough to allow for realistic identification of the ocean parameters. Acoustic signals propagating for long distances in the water column and reflections of underwater sound from the ocean boundaries provide novel problems of interpretation and inversion. The chapters in this volume discuss some of the contemporary aspects of these problems. They provide recent and useful results for bottom recognition, inverse scattering in acoustic wave guides, and ocean acoustic tomography, as well as a discussion of some of the new algorithms, such as those related to matched-field processing, that have recently been used for inverting experimental data. Each chapter is by a noted expert in the field and represents the state of the art. The chapters have all been edited to provide a uniform format and level of presentation.

This monograph focuses on the dynamical research work on crank-piston mechanisms considering basic and additional motions. In order to have full dynamical analyses of piston machines and their mechanisms, the book studies the crank-piston mechanisms with clearances in kinematic pairs. The tasks are carried out by focusing on friction, wear and impacts in mechanisms, as well as cracks formation in links and elasticity of details, with distributed and concentrated masses. Then, the reliability and durability of the mechanisms of piston machines is applied on oil and gas transportation. The monograph is meant for design specialists. It is also useful for specialists-manufacturers and designers of piston machines, scientists and lecturers, doctoral students.

Concern with the class of problems investigated in this monograph began for me as a graduate student at MIT (1958-62) when serving as research assistant to Professor Eric Reissner who initiated me into the subject and whose influence - whether directly or dialectically - is probably discernable in the contours of the work. My fIrst attempt at a systematic derivation of the equations of shell theory was made while on a summer assistantship with Professor Norman Levinson in 1960. Beyond gaining a sobering reali- zation of the complexities involved, I made little progress at that time. In 1962-64 while a Temporary Member at the Courant Institute of Mathematical Sciences (NYU) I made a fresh start, while benefIting from my association and discus- sions with Professor Fritz John. With the conviction that the full integration of the equations with respect to the thickness coordinate, by means of the Legendre repre- sentations, must lead to a clarifIcation of the position of the two-dimensional theory in its three-dimensional context, the necessary computations were completed during that period. Several years passed while I became reconciled with the thought that the material needed to be organized as a monograph. This was done during 1969-70 while at the NASA Electronics Research Center in Cambridge, MA.

In this book, the authors present their theoretical, experimental and numerical investigations into concrete structures subjected to projectile and aircraft impacts in recent years. Innovative approaches to analyze the rigid, mass abrasive and eroding projectile penetration and perforation are proposed. Damage and failure analyses of nuclear power plant containments impacted by large commercial aircrafts are numerically and experimentally analyzed. Ultra-high performance concrete materials and structures against the projectile impact are developed and their capacities of resisting projectile impact are evaluated. This book is written for the researchers, engineers and graduate students in the fields of protective structures and terminal ballistics.

Among the wide variety of nonlinear mechanical systems, it appears possible to distinguish a representative class which may be characterized by the presence of threshold nonlinear positional forces. Such systems demonstrate a sudden change in the behavior of elastic and dissipative forces. This monograph addresses the systematic representation of the new methods of analysis developed by the authors recently as applied to such systems. Specific features of dynamic processes of these systems are studied. Special attention is given to an analysis of different resonant phenomena taking unusual and diverse forms. These methods are applied to the analysis of mechanical systems designed for the generation and transformation of intensive processing of an impulsive nature. These are machines for rock fragmentation, impact processing, special types of shock testing machines and many other types of machinery.

Principles of Hyperplasticity is concerned with the theoretical modelling of the behaviour of solids which undergo nonlinear and irreversible deformation. The approach to plasticity theory developed here is firmly rooted in thermodynamics, so that the models developed are guaranteed to obey the First and Second Laws. Major emphasis is placed on the use of potentials, and the derivation of constitutive models for irreversible behaviour entirely from two scalar potentials is shown. It is to accentuate this feature that the authors use the term "hyperplasticity," by analogy with the use of "hyperelasticity" in elasticity theory.

The use of potentials has several advantages. First it allows models to be very simply defined, classified and, if necessary, developed. Secondly, by employing Legendre Transformations, it permits dependent and independent variables to be interchanged, making possible different forms of the same model for different applications. Emphasis is also placed on the derivation of incremental response, which is necessary for numerical analysis.

In the later parts of the book the theory is extended to include treatment of rate-dependent materials. A new and powerful concept, in which a single plastic strain is replaced by a plastic strain function, allowing smooth transitions between elastic and plastic behaviour is also introduced.

Illustrated with many examples of models derived within this framework, and including material particularly relevant to the field of geomechanics, this monograph will benefit academic researchers in mechanics, civil engineering and geomechanics and practising geotechnical engineers; it will also interest numerical analysts inengineering mechanics.

In this volume a survey of the most relevant nonlinear crack models is provided, with the purpose of analyzing the nonlinear mechanical effects occurring at the tip of macrocracks in quasi-brittle materials - such as concrete, rocks, ceramics, polymers, high-strength metallic alloys - and in brittle-matrix fibre-reinforced composites. Such local effects, as, for example, plastic deformation, yielding, strain-hardening, strain-softening, mechanical damage, matrix microcracking, aggregate debonding, fibre bridging, fibre slippage, crazing, and so on, are properly described through different simplified models, representing the peculiarities of the phenomena involved. The models are introduced and described separately and then compared in the last part of the book. This volume will be of interest to students, professionals and researchers in the field of nonlinear fracture mechanics.

Adaptive structural systems in conjunction with multifunctional materials facilitate technical solutions with a wide spectrum of applications and a high degree of integration. By virtue of combining the actuation and sensing capabilities of piezoelectric materials with the advantages of fiber composites, the anisotropic constitutive properties may be tailored according to requirements and the failure behavior can be improved. Such adaptive fiber composites are very well-suited for the task of noise and vibration reduction. In this respect the helicopter rotor system represents a very interesting and widely perceptible field of application. The occurring oscillations can be reduced with aid of aerodynamic couplings via fast manipulation of the angle of attack, being induced by twist actuation of the rotor blade. On the one hand the sensing properties may be used to determine the current state of deformation, while on the other hand the actuation properties may be used to attain the required state of deformation. The implementation of such concepts requires comprehensive knowledge of the theoretical context, which shall be illuminated in the work at hand from the examination of the material behavior to the simulation of the rotating structure.

This book consists of review articles by experts on recent developments in mechanical engineering sciences. The book has been composed to commemorate the Silver Jubilee of the Mechanical Engineering Department, Indian Institute of Technology Guwahati. It includes articles on modern mechanical sciences subjects of advanced simulation techniques and molecular dynamics, microfluidics and microfluidic devices, energy systems, intelligent fabrication, microscale manufacturing, smart materials, computational techniques, robotics and their allied fields. It presents the upcoming and emerging areas in mechanical sciences which will help in formulation of new courses and updating existing curricula. This book will help the academicians and policy makers in the field of engineering education to chart out the desired path for the development of technical education.

This book comprehensively discusses essential aspects of terminal ballistics, combining experimental data, numerical simulations and analytical modeling. This new, 3rd edition reflects a number of recent advances in materials science, such as the use of polyurea layers on metallic plates in order to improve their ballistics. In addition, more data and analyses are now available on dwell and interface defeat in ceramic tiles coated with polymers, and are presented here. Lastly, the new edition includes new results, numerical and empirical, concerning the DIF issue in brittle solids, as well as the "upturn" phenomenon in the stress-strain curves of ductile solids.The author also added a new analysis of concrete penetration experiments which accounts for the scaling issue in this field. This is a new,and important, addition which we are happy to announce. They also added some new insights into the interaction of EEP's and FSP projectiles with metallic plates. Throughout the book, the authors demonstrate the advantages of the simulation approach in terms of understanding the basic physics behind the phenomena investigated, making it a must-read for all professionals who need to understand terminal ballistics.