Modeling and Control in Vibrational and Structural Dynamics: A Differential Geometric Approach describes the control behavior of mechanical objects, such as wave equations, plates, and shells. It shows how the differential geometric approach is used when the coefficients of partial differential equations (PDEs) are variable in space (waves/plates), when the PDEs themselves are defined on curved surfaces (shells), and when the systems have quasilinear principal parts. To make the book self-contained, the author starts with the necessary background on Riemannian geometry. He then describes differential geometric energy methods that are generalizations of the classical energy methods of the 1980s. He illustrates how a basic computational technique can enable multiplier schemes for controls and provide mathematical models for shells in the form of free coordinates. The author also examines the quasilinearity of models for nonlinear materials, the dependence of controllability/stabilization on variable coefficients and equilibria, and the use of curvature theory to check assumptions. With numerous examples and exercises throughout, this book presents a complete and up-to-date account of many important advances in the modeling and control of vibrational and structural dynamics.

Designed for undergraduate students in the general science, engineering, and mathematics community, Introduction to the Simulation of Dynamics Using Simulink (R) shows how to use the powerful tool of Simulink to investigate and form intuitions about the behavior of dynamical systems. Requiring no prior programming experience, it clearly explains how to transition from physical models described by mathematical equations directly to executable Simulink simulations. Teaches students how to model and explore the dynamics of systemsStep by step, the author presents the basics of building a simulation in Simulink. He begins with finite difference equations and simple discrete models, such as annual population models, to introduce the concept of state. The text then covers ordinary differential equations, numerical integration algorithms, and time-step simulation. The final chapter offers overviews of some advanced topics, including the simulation of chaotic dynamics and partial differential equations. A one-semester undergraduate course on simulationWritten in an informal, accessible style, this guide includes many diagrams and graphics as well as exercises embedded within the text. It also draws on numerous examples from the science, engineering, and technology fields. The book deepens students' understanding of simulated systems and prepares them for advanced and specialized studies in simulation. Ancillary materials are available at http://nw08.american.edu/~gray

Coarse-grained reconfigurable architecture (CGRA) has emerged as a solution for flexible, application-specific optimization of embedded systems. Helping you understand the issues involved in designing and constructing embedded systems, Design of Low-Power Coarse-Grained Reconfigurable Architectures offers new frameworks for optimizing the architecture of components in embedded systems in order to decrease area and save power. Real application benchmarks and gate-level simulations substantiate these frameworks. The first half of the book explains how to reduce power in the configuration cache. The authors present a low-power reconfiguration technique based on reusable context pipelining that merges the concept of context reuse into context pipelining. They also propose dynamic context compression capable of supporting required bits of the context words set to enable and the redundant bits set to disable. In addition, they discuss dynamic context management for reducing power consumption in the configuration cache by controlling a read/write operation of the redundant context words. Focusing on the design of a cost-effective processing element array to reduce area and power consumption, the second half of the text presents a cost-effective array fabric that uniquely rearranges processing elements and their interconnection designs. The book also describes hierarchical reconfigurable computing arrays consisting of two reconfigurable computing blocks with two types of communication structure. The two computing blocks share critical resources, offering an efficient communication interface between them and reducing the overall area. The final chapter takes an integrated approach to optimization that draws on the design schemes presented in earlier chapters. Using a case study, the authors demonstrate the synergy effect of combining multiple design schemes.

Measurement Data Modeling and Parameter Estimation integrates mathematical theory with engineering practice in the field of measurement data processing. Presenting the first-hand insights and experiences of the authors and their research group, it summarizes cutting-edge research to facilitate the application of mathematical theory in measurement and control engineering, particularly for those interested in aeronautics, astronautics, instrumentation, and economics. Requiring a basic knowledge of linear algebra, computing, and probability and statistics, the book illustrates key lessons with tables, examples, and exercises. It emphasizes the mathematical processing methods of measurement data and avoids the derivation procedures of specific formulas to help readers grasp key points quickly and easily. Employing the theories and methods of parameter estimation as the fundamental analysis tool, this reference: Introduces the basic concepts of measurements and errors Applies ideas from mathematical branches, such as numerical analysis and statistics, to the modeling and processing of measurement data Examines methods of regression analysis that are closely related to the mathematical processing of dynamic measurement data Covers Kalman filtering with colored noises and its applications Converting time series models into problems of parameter estimation, the authors discuss modeling methods for the true signals to be estimated as well as systematic errors. They provide comprehensive coverage that includes model establishment, parameter estimation, abnormal data detection, hypothesis tests, systematic errors, trajectory parameters, and modeling of radar measurement data. Although the book is based on the authors' research and teaching experience in aeronautics and astronautics data processing, the theories and methods introduced are applicable to processing dynamic measurement data across a wide range of fields.

Currently, a new generation of fuel-efficient ships, which use wind force in addition to conventional propulsion technology, is being developed. This study describes a mathematical method for a probabilistic estimate of the wind propulsion force on a ship route. The method is based on quantile regression, which makes it suitable for various ship routes with variable weather conditions. Furthermore, the author takes different macro weather situations into account for the calculation of the statistical distributions. He validates the results for a multi-purpose carrier, a ship route in the North Atlantic Ocean and archived weather forecasts. It showed that the wind force can be estimated more accurately if the macro weather situation is taken into account properly.

Highlighting the capabilities, limitations, and benefits of wind power, Wind Turbine Technology gives you a complete introduction and overview of wind turbine technology and wind farm design and development. It identifies the critical components of a wind turbine, describes the functional capabilities of each component, and examines the latest performance parameters and procurement specifications for these components. From cutting-edge design aspects to experimental data, this comprehensive reference contains eight chapters-each dedicated to a specific design aspect of wind turbine technology. It examines potential wind turbine installation configurations, along with the structural requirements for the tower and nacelle. The book also: Presents site wind speed prediction techniques Addresses the integration of wind farms into the electrical power system, including power quality and system stability Describes wind speed frequency distribution and the structure of turbulence Details design and analysis techniques, as well as the functions of wind turbine controllers The book uses a conventional nomenclature and consistent sets of symbols and units throughout to present the information in a manner that's easy to understand. It also explains how to compare electrical energy generation costs from wind turbine installation with those of other renewable energy sources.

Green Energy: Sustainable Electricity Supply with Low Environmental Impact defines the future of the world's electricity supply system, exploring the key issues associated with global warming, and which energy systems are best suited to reducing it. Electricity generation is a concentrated industry with a few sources of emissions, which can be controlled or legislated against. This book explains that a green sustainable electricity system is one whose construction, installation, and operation minimally affect the environment and produce power reliability at an affordable price. It addresses the question of how to build such an electricity supply system to meet the demands of a growing population without accelerating global warming or damaging the environment. The green argument for conservation and renewable energies is a contradiction in terms. Although they produce no emissions, because renewable systems are composed of a large number of small units, a considerable amount of energy is required to produce, erect, and maintain them. This book is a response to that conundrum, answering key questions, such as: How can renewables be exploited to contribute the greatest energy input? Should coal be used for clean fuel and chemical production rather than for power generation? How quickly can we start to build the Green Energy system? The author has more than forty years of experience as an international journalist reporting on power-generating technologies and on energy policies around the world. Detailing the developmental history, and current state, of the global nuclear industry, he discusses the dire, immediate need for large quantities of clean, emission-free electric power, for both domestic and industrial uses. This book details how current technologies-particularly nuclear, combined cycle, and hydro-can be applied to satisfy safely the growing energy demands in the future.

This book presents fabrication approaches that could be adapted for the high-throughput and low-cost manufacturing of the proposed transparent electrode. It proposes and demonstrates a new type of embedded metal-mesh transparent electrode (EMTE) that offers superior electrical, optical, and mechanical properties. The structure of the EMTE allows thick metal mesh to be used (for high conductivity) without sacrificing surface smoothness. In addition, the embedded structure improves the EMTE's mechanical stability under high bending stress, as well as its chemical stability in ambient environments. These design aspects are then shown to be suitable for larger electrode areas, narrower metal-mesh line widths, and a wide range of materials, and can easily be adapted to produce flexible and even stretchable devices. In closing, the book explores the practical applications of EMTEs in flexible bifacial dye-sensitized solar cells and transparent thin-film heaters, demonstrating their outstanding performance.

The increasing power of computer technologies, the evolution of software en- neering and the advent of the intelligent transport systems has prompted traf c simulation to become one of the most used approaches for traf c analysis in s- port of the design and evaluation of traf c systems. The ability of traf c simulation to emulate the time variability of traf c phenomena makes it a unique tool for capturing the complexity of traf c systems. In recent years, traf c simulation - and namely microscopic traf c simulation - has moved from the academic to the professional world. A wide variety of traf- c simulation software is currently available on the market and it is utilized by thousands of users, consultants, researchers and public agencies. Microscopic traf c simulation based on the emulation of traf c ows from the dynamics of individual vehicles is becoming one the most attractive approaches. However, traf c simulation still lacks a uni ed treatment. Dozens of papers on theory and applications are published in scienti c journals every year. A search of simulation-related papers and workshops through the proceedings of the last annual TRB meetings would support this assertion, as would a review of the minutes from speci cally dedicated meetings such as the International Symposiums on Traf c Simulation (Yokohama, 2002; Lausanne, 2006; Brisbane, 2008) or the International Workshops on Traf c Modeling and Simulation (Tucson, 2001; Barcelona, 2003; Sedona, 2005; Graz 2008). Yet, the only comprehensive treatment of the subject to be found so far is in the user's manuals of various software products.

Micro/nano-scale engineering-especially the design and implementation of ultra-fast and ultra-scale energy devices, sensors, and cellular and molecular systems-remains a daunting challenge. Modeling and control has played an essential role in many technological breakthroughs throughout the course of history. Therefore, the need for a practical guide to modeling and control for micro/nano-scale devices and systems has emerged. The first edited volume to address this rapidly growing field, Modeling and Control for Micro/Nano Devices and Systems gives control engineers, lab managers, high-tech researchers, and graduate students easy access to the expert contributors' cutting-edge knowledge of micro/nanotechnology, energy, and bio-systems. The editors offer an integrated view from theory to practice, covering diverse topics ranging from micro/nano-scale sensors to energy devices and control of biology systems in cellular and molecular levels. The book also features numerous case studies for modeling of micro/nano devices and systems, and explains how the models can be used for control and optimization purposes. Readers benefit from learning the latest modeling techniques for micro/nano-scale devices and systems, and then applying those techniques to their own research and development efforts.

A comprehensive overview of nonlinear H control theory for both continuous-time and discrete-time systems, Nonlinear H -Control, Hamiltonian Systems and Hamilton-Jacobi Equations covers topics as diverse as singular nonlinear H -control, nonlinear H -filtering, mixed H2/ H -nonlinear control and filtering, nonlinear H -almost-disturbance-decoupling, and algorithms for solving the ubiquitous Hamilton-Jacobi-Isaacs equations. The link between the subject and analytical mechanics as well as the theory of partial differential equations is also elegantly summarized in a single chapter. Recent progress in developing computational schemes for solving the Hamilton-Jacobi equation (HJE) has facilitated the application of Hamilton-Jacobi theory in both mechanics and control. As there is currently no efficient systematic analytical or numerical approach for solving them, the biggest bottle-neck to the practical application of the nonlinear equivalent of the H -control theory has been the difficulty in solving the Hamilton-Jacobi-Isaacs partial differential-equations (or inequalities). In light of this challenge, the author hopes to inspire continuing research and discussion on this topic via examples and simulations, as well as helpful notes and a rich bibliography. Nonlinear H -Control, Hamiltonian Systems and Hamilton-Jacobi Equations was written for practicing professionals, educators, researchers and graduate students in electrical, computer, mechanical, aeronautical, chemical, instrumentation, industrial and systems engineering, as well as applied mathematics, economics and management.

Mechatronic systems are used in a range of consumer products from large-scale braking systems in vehicular agents to small-scale integrated sensors in mobile phones. To keep pace in the competitive consumer electronics industry, companies need to continuously improve servo evaluation and position control of these mechatronic systems. Advances in High-Performance Motion Control of Mechatronic Systems covers advanced control topics for mechatronic applications. In particular, the book examines control systems design for ultra-fast and ultra-precise positioning of mechanical actuators in mechatronic systems. The book systematically describes motion control design methods for trajectory design, sampled-data precise positioning, transient control using switching control, and dual-stage actuator control. Each method is described in detail, from theoretical aspects to examples of actual industry applications including hard disk drives, optical disk drives, galvano scanners, personal mobility robots, and more. This helps readers better understand how to translate control theories and algorithms from theory to design and implementation in realistic engineering systems. The book also identifies important research directions and advanced control techniques that may provide solutions for the next generation of high-performance mechatronics. Bridging research and industry, this book presents state-of-the-art control design methodologies that are widely applicable to industries such as manufacturing, robotics, home appliances, automobiles, printers, and optical drives. It guides readers toward more effective solutions for high-performance mechatronic systems in their own products.

Stringent demands on modern guided weapon systems require new approaches to guidance, control, and estimation. There are requirements for pinpoint accuracy, low cost per round, easy upgrade paths, enhanced performance in counter-measure environments, and the ability to track low-observable targets. Advances in Missile Guidance, Control, and Estimation brings together in one volume the latest developments in the three major missile-control components-guidance, control, and estimation-as well as advice on implementation. It also shows how these elements contribute to the overall missile design process. Shares Insights from Well-Known Researchers and Engineers from Israel, Korea, France, Canada, the UK, and the US The book features contributions by renowned experts from government, the defense industry, and academia from the United States, Israel, Korea, Canada, France, and the United Kingdom. It starts from the ground up, developing equations of missile motion. It reviews the kinematics of the engagement and the dynamics of the target and missile before delving into autopilot design, guidance, estimation, and practical implementation issues. Covers Nonlinear Control Techniques as Well as Implementation Issues The book discusses the design of autopilots using new nonlinear theories and analyzes the performance over a flight envelope of Mach number and altitude. It also contains a chapter on the recent integrated-guidance-and-control approach, which exploits the synergy between the autopilot and guidance system design. The book then outlines techniques applied to the missile guidance problem, including classical guidance, sliding mode-based, and differential game-based techniques. A chapter on the use of differential games integrates the guidance law with the estimation of the target maneuver. A chapter on particle filter describes the latest development in filtering algorithms. The final chapters-written by engineers working in the defense industry in the US, Israel, and Canada-consider the design and implementation issues of a command-to-line-of-sight guidance system and autopilots. An Invaluable Resource on the State of the Art of Missile Guidance A guide to advanced topics in missile guidance, control, and estimation, this invaluable book combines state-of-the-art theoretical developments presented in a tutorial form and unique practical insights. It looks at how tracking, guidance, and autopilot algorithms integrate into a missile system and guides control system designers through the challenges of the design process.

Good aging infrastructure management consists of optimizing the choice of equipment and its refurbishment while also making compatible changes in all those operating and ownership policies, the whole combination aimed at optimizing the business results the power system owner desires. Both a reference and tutorial guide, this second edition of Aging Power Delivery Infrastructures provides updated coverage of aging power delivery systems, the problems they cause, and the technical and managerial approaches that power systems owners can take to manage them. See What's New in the Second Edition: All chapters have been updated or are completely new Comprehensive discussions of all issues related to equipment aging Business impact analysis and models and engineering business studies of actual utility cases Strategy and policy issues and how to frame and customize them for specific situations This book looks at the basics of equipment aging and its system and business impacts on utilities. It covers various maintenance, service and retrofit methods available to mitigate age-related deterioration of equipment. It also presents numerous configuration and automation upgrades at the system level that can deal with higher portions of aging equipment in the system and still provide good service at a reasonable cost.

Analysis of Synchronous Machines, Second Edition is a thoroughly modern treatment of an old subject. Courses generally teach about synchronous machines by introducing the steady-state per phase equivalent circuit without a clear, thorough presentation of the source of this circuit representation, which is a crucial aspect. Taking a different approach, this book provides a deeper understanding of complex electromechanical drives. Focusing on the terminal rather than on the internal characteristics of machines, the book begins with the general concept of winding functions, describing the placement of any practical winding in the slots of the machine. This representation enables readers to clearly understand the calculation of all relevant self- and mutual inductances of the machine. It also helps them to more easily conceptualize the machine in a rotating system of coordinates, at which point they can clearly understand the origin of this important representation of the machine. Provides numerical examples Addresses Park's equations starting from winding functions Describes operation of a synchronous machine as an LCI motor drive Presents synchronous machine transient simulation, as well as voltage regulation Applying his experience from more than 30 years of teaching the subject at the University of Wisconsin, author T.A. Lipo presents the solution of the circuit both in classical form using phasor representation and also by introducing an approach that applies MathCAD (R), which greatly simplifies and expands the average student's problem-solving capability. The remainder of the text describes how to deal with various types of transients-such as constant speed transients-as well as unbalanced operation and faults and small signal modeling for transient stability and dynamic stability. Finally, the author addresses large signal modeling using MATLAB (R)/Simulink (R), for complete solution of the non-linear equations of the salient pole synchronous machine. A valuable tool for learning, this updated edition offers thoroughly revised content, adding new detail and better-quality figures.

Computer-Aided Control Systems Design: Practical Applications Using MATLAB (R) and Simulink (R) supplies a solid foundation in applied control to help you bridge the gap between control theory and its real-world applications. Working from basic principles, the book delves into control systems design through the practical examples of the ALSTOM gasifier system in power stations and underwater robotic vehicles in the marine industry. It also shows how powerful software such as MATLAB (R) and Simulink (R) can aid in control systems design. Make Control Engineering Come Alive with Computer-Aided Software Emphasizing key aspects of the design process, the book covers the dynamic modeling, control structure design, controller design, implementation, and testing of control systems. It begins with the essential ideas of applied control engineering and a hands-on introduction to MATLAB and Simulink. It then discusses the analysis, model order reduction, and controller design for a power plant and the modeling, simulation, and control of a remotely operated vehicle (ROV) for pipeline tracking. The author explains how to obtain the ROV model and verify it by using computational fluid dynamic software before designing and implementing the control system. In addition, the book details the nonlinear subsystem modeling and linearization of the ROV at vertical plane equilibrium points. Throughout, the author delineates areas for further study. Appendices provide additional information on various simulation models and their results. Learn How to Perform Simulations on Real Industry Systems A step-by-step guide to computer-aided applied control design, this book supplies the knowledge to help you deal with control problems in industry. It is a valuable reference for anyone who wants a better understanding of the theory and practice of basic control systems design, analysis, and implementation.

Distributed controller design is generally a challenging task, especially for multi-agent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

With countless electric motors being used in daily life, in everything from transportation and medical treatment to military operation and communication, unexpected failures can lead to the loss of valuable human life or a costly standstill in industry. To prevent this, it is important to precisely detect or continuously monitor the working condition of a motor. Electric Machines: Modeling, Condition Monitoring, and Fault Diagnosis reviews diagnosis technologies and provides an application guide for readers who want to research, develop, and implement a more effective fault diagnosis and condition monitoring scheme-thus improving safety and reliability in electric motor operation. It also supplies a solid foundation in the fundamentals of fault cause and effect. Combines Theoretical Analysis and Practical Application Written by experts in electrical engineering, the book approaches the fault diagnosis of electrical motors through the process of theoretical analysis and practical application. It begins by explaining how to analyze the fundamentals of machine failure using the winding functions method, the magnetic equivalent circuit method, and finite element analysis. It then examines how to implement fault diagnosis using techniques such as the motor current signature analysis (MCSA) method, frequency domain method, model-based techniques, and a pattern recognition scheme. Emphasizing the MCSA implementation method, the authors discuss robust signal processing techniques and the implementation of reference-frame-theory-based fault diagnosis for hybrid vehicles. Fault Modeling, Diagnosis, and Implementation in One Volume Based on years of research and development at the Electrical Machines & Power Electronics (EMPE) Laboratory at Texas A&M University, this book describes practical analysis and implementation strategies that readers can use in their work. It brings together, in one volume, the fundamentals of motor fault conditions, advanced fault modeling theory, fault diagnosis techniques, and low-cost DSP-based fault diagnosis implementation strategies.

With today's electrical and electronics systems requiring increased levels of performance and reliability, the design of robust EMI filters plays a critical role in EMC compliance. Using a mix of practical methods and theoretical analysis, EMI Filter Design, Third Edition presents both a hands-on and academic approach to the design of EMI filters and the selection of components values. The design approaches covered include matrix methods using table data and the use of Fourier analysis, Laplace transforms, and transfer function realization of LC structures. This edition has been fully revised and updated with additional topics and more streamlined content. New to the Third Edition Analysis techniques necessary for passive filter realization Matrix method and transfer function analysis approaches for LC filter structure design A more hands-on look at EMI filters and the overall design process Through this bestselling book's proven design methodology and practical application of formal techniques, readers learn how to develop simple filter solutions. The authors examine the causes of common- and differential-mode noise and methods of elimination, the source and load impedances for various types of input power interfaces, and the load impedance aspect of EMI filter design. After covering EMI filter structures, topologies, and components, they provide insight into the sizing of components and protection from voltage transients, discuss issues that compromise filter performance, and present a goal for a filter design objective. The text also includes a matrix method for filter design, explains the transfer function method of LC structures and their equivalent polynomials, and gives a circuit design example and analysis techniques. The final chapter presents packaging solutions of EMI filters.

Establishing adaptive control as an alternative framework to design and analyze Internet congestion controllers, End-to-End Adaptive Congestion Control in TCP/IP Networks employs a rigorously mathematical approach coupled with a lucid writing style to provide extensive background and introductory material on dynamic systems stability and neural network approximation; alongside future internet requests for congestion control architectures. Designed to operate under extreme heterogeneous, dynamic, and time-varying network conditions, the developed controllers must also handle network modeling structural uncertainties and uncontrolled traffic flows acting as external perturbations. The book also presents a parallel examination of specific adaptive congestion control, NNRC, using adaptive control and approximation theory, as well as extensions toward cooperation of NNRC with application QoS control. Features: Uses adaptive control techniques for congestion control in packet switching networks Employs a rigorously mathematical approach with lucid writing style Presents simulation experiments illustrating significant operational aspects of the method; including scalability, dynamic behavior, wireless networks, and fairness Applies to networked applications in the music industry, computers, image trading, and virtual groups by techniques such as peer-to-peer, file sharing, and internet telephony Contains working examples to highlight and clarify key attributes of the congestion control algorithms presented Drawing on the recent research efforts of the authors, the book offers numerous tables and figures to increase clarity and summarize the algorithms that implement various NNRC building blocks. Extensive simulations and comparison tests analyze its behavior and measure its performance through monitoring vital network quality metrics. Divided into three parts, the book offers a review of computer networks and congestion control, presents an adaptive congestion control framework as an alternative to optimization methods, and provides appendices related to dynamic systems through universal neural network approximators.

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems. Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.

Helicopter Dynamics Introduced in an Organized and Systematic Manner A result of lecture notes for a graduate-level introductory course as well as the culmination of a series of lectures given to designers, engineers, operators, users, and researchers, Fundamentals of Helicopter Dynamics provides a fundamental understanding and a thorough overview of helicopter dynamics and aerodynamics. Written at a basic level, this text starts from first principles and moves fluidly onward from simple to more complex systems. Gain Valuable Insight on Helicopter Theory Divided into 11 chapters, this text covers historical development, hovering and vertical flight, simplified rotor blade model in flap mode, and forward flight. It devotes two chapters to the aeroelastic response and stability analysis of isolated rotor blade in uncoupled and coupled modes. Three chapters address the modeling of coupled rotor-fuselage dynamics and the associated flight dynamic stability, and provide a simplified analysis of the ground resonance aeromechanical stability of a helicopter. Explains equations derived from first principles and approximations Contains a complete set of equations which can be used for preliminary studies Requires a basic first-level course in dynamics, as well as a basic first-level course in aerodynamics Useful for any student who wants to learn the complexities of dynamics in a flying vehicle, Fundamentals of Helicopter Dynamics is an ideal resource for aerospace/aeronautical, helicopter, and mechanical/control engineers, as well as air force schools and helicopter/rotorcraft manufacturers.

Written by an expert with more than 30 years of experience, Guidance of Unmanned Aerial Vehicles contains new analytical results, taken from the author's research, which can be used for analysis and design of unmanned aerial vehicles guidance and control systems. This book progresses from a clear elucidation of guidance laws and unmanned aerial vehicle dynamics to the modeling of their guidance and control systems. Special attention is paid to guidance of autonomous UAVs, which differs from traditional missile guidance. The author explains UAV applications, contrasting them to a missile's limited ability (or inability) to control axial acceleration. The discussion of guidance laws for UAVs presents a generalization of missile guidance laws developed by the author. The computational algorithms behind these laws are tested in three applications-for the surveillance problem, the refueling problem, and for the motion control of a swarm of UAVs. The procedure of choosing and testing the guidance laws is also considered in an example of future generation of airborne interceptors launched from UAVs. The author provides an innovative presentation of the theoretical aspects of unmanned aerial vehicles' guidance that cannot be found in any other book. It presents new ideas that, once crystallized, can be implemented in the new generation of unmanned aerial systems.

Optimal Control for Chemical Engineers gives a detailed treatment of optimal control theory that enables readers to formulate and solve optimal control problems. With a strong emphasis on problem solving, the book provides all the necessary mathematical analyses and derivations of important results, including multiplier theorems and Pontryagin's principle. The text begins by introducing various examples of optimal control, such as batch distillation and chemotherapy, and the basic concepts of optimal control, including functionals and differentials. It then analyzes the notion of optimality, describes the ubiquitous Lagrange multipliers, and presents the celebrated Pontryagin principle of optimal control. Building on this foundation, the author examines different types of optimal control problems as well as the required conditions for optimality. He also describes important numerical methods and computational algorithms for solving a wide range of optimal control problems, including periodic processes. Through its lucid development of optimal control theory and computational algorithms, this self-contained book shows readers how to solve a variety of optimal control problems.

Principles of Power Engineering Analysis presents the basic tools required to understand the components in an electric power transmission system. Classroom-tested at Rensselaer Polytechnic Institute, this text is the only up-to-date one available that covers power system analysis at the graduate level. The book explains from first principles the expressions that predict the performance of transmission systems and transformers. It then extends these concepts to balanced three-phase systems and unbalanced systems. The authors proceed to introduce symmetrical component analysis of transmission systems, three-phase transformers, and faulted systems. They also describe the design of untransposed transmission lines and discuss other analysis component systems, such as Clarke component networks. Despite the tremendous changes that have occurred in the electrical industry over the last forty years, the need for a fundamental understanding of power system analysis has not changed. Suitable for a one-semester course, this book develops the necessary concepts in depth and illustrates the application of three-phase electric power transmission.