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• Frontmatter
• Solid Propellants and their Combustion Characteristics
• Thermal Decomposition and Combustion of Nitramines
• Burning Behavior of Homogeneous Solid Propellants
• Chemically Reacting Boundary-Layer Flows
• Ignition and Combustion of Single Energetic Solid Particles
• Combustion of Solid Particles in Multiphase Flows
• Appendix A: Useful Vector and Tensor Operations
• Appendix B: Constants and Conversion Factors often Used in Combustion
• Appendix C: Naming of Hydrocarbons
• Appendix D: Particle Size-U.S. Sieve Size and Tyler Screen Mesh Equivalents.

This book is the second of two follow-on volumes to the author's bestseller, Principles of Combustion, Second Edition published in 2005. This text focuses on applications, with coverage not available elsewhere, including solid propellants, burning behavior, and chemical boundary layer flows. Kuo provides a multiphase systems approach beginning with more common topics and moving to higher level applications. As with Kuo's earlier book, large numbers of examples and problems and a solutions manual are provided.
(source: Nielsen Book Data)

• Front Matter
• Machining
• Metals
• Repairs and Rebuilding
• Machinery Inspection and Measurement
• Lubrication
• Bearings
• Shaft Alignment
• V-Belt Drives
• Mechanical Bushings
• Electricity
• Electric Motors
• Centrifugal Pumps
• Industrial Fans
• Welding
• Miscellaneous Information.

"An essential, pocket-sized manual for industrial craftspeople from a brand relied on for more than a centuryThe Audel & trade; Industrial Trades Multi-Craft Reference Manual is aimed at the industrial mechanic, millwright, machinist, plumber, pipefitter, welder, carpenter, sheet metal mechanic, and other skilled craftspeople who need quick, no-nonsense access to dependable information--fast. Including up-to-date focus on "green" thinking and industrial sustainability, this handy, compact guide serves as an ideal on-the-job reference on topics such as pump facts, bearing information, motor facts, wood and carpentry, pipefitting, welding, blacksmithing, and much more. New Audel book from bestselling author Tom Davis Topics searchable by machine, device, or material Heavily illustrated and designed with lay-flat binding for ease of use on the job Includes worked-out examples when math is presented to accelerate learning Building on a rich legacy of titles from the celebrated Audel brand, this new addition to their esteemed lineup continues the tradition of delivering trusted content skilled workers reach for the most"-- Provided by publisher.

• Preface xiii Editors xvii Energy Technologies and Carbon Dioxide Management CO2 Management and Utilization Solar Activated Photocatalytic Conversion of CO2 and Water to Fuels by TiO2- Based Nanocomposites 5 Q. Zhang, L. Liu, and Y. Li Photocatalytic Efficacy of 1-Dimensional Nanocomposite Electrode 9 J. Lee, B. Ding, J. Noh, and K. Hong Reduction of Energy Consumption and GHGs Emission in Investment Casting Process by Application of a New Casting Method 15 X. Dai, M. Jolly, and B. Zeng Bauxite Residue Neutralization and Carbon Sequestration from Flue Gas 23 L. Alves Venancio, E. Negrao Macedo, J. Antonio Silva Souza, and F. Aracati Botelho 50% Reduction of Energy and C02 Emission in Metallurgical Furnaces by Burners 31 M. Potesser, D. Spoljaric, B. Holleis, and M. Demuth C02 Removal from Industrial Off-Gas Streams by Fluidized Bed Carbonation 39 K. Pericleous, M. Molaei, and M. Patel A Hydro-Mechanical Model and Analytical Solutions for Geomechanical Modeling of Carbon Dioxide Geological Sequestration 47 Z. Xu, Y. Fang, T. Scheibe, and A. Bonneville Energy Technologies Energy Opportunities in the Aluminum Processing Industry 57 C. Belt An Alternative Lower Temperature Route For The Recovery of Cobalt From Slag 65 A. Jha, and Y. Hara High Thermal Energy Storage Density LiNO3-NaNO3-KNO3-KNO2 Quaternary Molten Salts for Parabolic Trough Solar Power Generation 73 T. Wang, D. Mantha, and R. Reddy Global Primary Aluminium Industry 2010 Life Cycle Inventory 85 C. Bayliss, M. Bertram, K. Buxmann, B. de Gelas, S. Jones, and L. Wu Analysis of Combustion Efficiency Using Laser-Induced Fluorescence Measurements of OH-Radicals 93 M. Schnitzler, R. Boiling, and H. Pfeifer A Solid State Thermoelectric Power Generator Prototype Designed to Recover Radiant Waste Heat 101 M. Takla, O. Burheim, L. Kolbeinsen, and S. Kjelstrup Study on Smelting Reduction of Coal-Containing Pellets of V-Ti Bearing Beach Placers by Combined Rotary Hearth Furnace and Direct Current Arc Furnace 109 H. Lu, J. Xu, and Q. Li A Novel Method Combined lonothermal Synthesis and Microwave Energies for Rapid Production of ZIFS 117 L. Yang, H. Lu, and S. Zhou The Relationship between Energy Consumption and CO2 Emissions in Iron and Steel Making 125 H. Bai, X. Lu, H. Li, L. Zhao, X. Liu, N. Li, W. Wei, and D. Cang Development and Application of Shaft Kiln in China 133 L. Guo, M. Xian, and L. Dong Preparation of Biodiesel by Transesterification of Canola Oil Using Solid Base Catalyst KOH/?-Al2O3 141 S. Sadrameli, and M. Omraei Waste Heat Recovery Effect of Materials on the Autoignition of Cyclopentane 151 D. Guillen Low Grade Waste Heat Driven Desalination and SO2 Scrubbing 159 S. Garimella, D. Ziegler, and J. Klausner Waste Heat Integration Potential Assessment through Exergy Analysis in an Aluminum Production Facility 165 C. Nowicki, L. Gosselin, and C. Duchesne Sustainability, Energy Efficiency and CO2 Elimination in Concentrate Drying 173 J. Talja, S. Chen, and H. Mansikkaviita Development of Heat Recovery System from Steelmaking Slag 181 Y. Ta, H. Tobo, Y. Hagio, and M. Kuwayama Dry Granulation of Molten Blast Furnace Slag and Heat Recovery from Obtained Particles 187 Y. Qin, X. Lv, C. Bai, and G. Qiu The Environment Load Assessment of Iron and Steel Producing BF-BOF and EAF Route Process 195 H. Li, S. Tao, H. Bai, and D. Cang Aluminum Smelter Waste Heat Recovery Plant (Heat Exchangers Fouling and Corrosion-A Detailed Investigation) 203 H. Fanisalek, M. Bashiri, and R. Kamali Battery Recycling Session I Economic and Environmental Trade-Offs for Li-Based Battery Recycling 219 G. Gaustad, M. Ganter, X. Wang, C. Bailey, C. Babbitt, and B. Landi Battery Recycling by Hydrometallurgy: Evaluation of Simultaneous Treatment of Several Cell Systems 227 C. Nogueira, and F. Margarido The Use of Liquid-Liquid Extraction and Electroplating to Metals Recovery from Spent Batteries 235 K. Provazi, D. Espinosa, andJ. Tenorio Magnetic Materials for Energy Applications II Permanent Magnets for Energy Applications Search for New Rare Earth Based Permanent Magnetic Materials 247 B. Jensen, K. Dennis, and R. McCallum Magnetocaloric and Magnetostrictive Materials Effect of W Substitution on the Magnetostrictive Behavior of [001] Fe-Ga Alloy Single Crystal 257 C. Ren, B. Saha, M. Ramanathan, and S. Guruswamy Power Conversion and Microstructural Effects Nanocomposite Alloy Design for High Frequency Power Conversion Applications 267 S. Shen, P. Ohodnicki, S. Kernion, A. Leary, V. Keylin, J. Huth, and M. McHenry Magnetic Properties of Strontium Ferrite Prepared Using Submicron-Sized SrFe12-xAlxO19 Powders 275 V. Menushenkov, V. Shubakov, and S, Ketov Influence of Magnetization on the Hydrogen Embrittlement Behavior in AISI 4340 Steel 281 M. Ramanathan, B. Saha, C. Ren, S. Guruswamy, and M. McCarter The Effect of Dynamic Electropulsing on Mechanical and Microstructural Properties of Cold Rolled Fe-6.5%Si Alloy Sheet 289 Y. Liang, F. Ye, H. Zhou, F. Wang, G. Tang, and J. Lin Materials in Clean Power Systems VII: Clean Coal-, Hydrogen Based-Technologies, and Fuel Cells Fuel Cells Study of Microstructure and Electrical Conductivity on (Ce0.9Nd0.1)1-xMxO2-delta Electrolytes for Intermediate-Temperature Solid Oxide Fuel Cells 301 F. Menga, Y. Xiab, D. Zhouc, N. Trubakia, X. Liub, and J. Mengb Transition Metal Doping of Manganese Cobalt Spinel Oxides for Coating SOFC Interconnects 305 J. Fergus, Y. Liu, J. Gcmley, D. Nair, W. Tilson, A. Dekich, D. Kumar, Y. Liu, J. Ganley, W. Tilson, A. Dekich, and J. Fergus Materials for Hydrogen Production, Separation, and Storage Free Form Fabrication of Catalytic Substrates 315 T. Salisbury, J. Downey, W. Gleason, S. Davis, G. Pinson, R. Christianson, M. Berlin, R. James, E. Rosenberg, K. Gleason, R. Hiebert, andJ. McCloskey Improved Palladium Coatings for Hydrogen Purification Membranes 323 S. Davis, J. Downey, W. Gleason, T. Salisbury, G. Pinson, R. Christianson, M. Berlin, R. James, E. Rosenberg, K. Gleason, R. Hiebert, and J. McCloskey Raman Spectroscopy of Ammonia Borane at Low Temperature and High Pressure 331 S. Najiba, J. Chen, V. Drozd, A. Durygin, and Y. Sun Mechanical Performance of Materials for Current and Advanced Nuclear Reactors Mechanical Behavior of Reactor Materials Fracture Toughness of 9Cr-l MoV and Thermally Aged Alloy 617 for Advanced Reactor Applications 343 R. Nanstad, M. Sokolov, and X. Chen Characterization and Modeling of Microstructural Evolution in Nuclear Materials Elemental Solubility Tendency for the Phases of Uranium by Classical Models Used to Predict Alloy Behavior 359 V. Blackwood, T. Koenig, J. Porter, D. Olson, B. Mishra, R. Mariani, and D. Porter Irradiation and Testing of Fuels and Cladding Materials Nanoindentation and TEM Characterization of Ion Irridiated 316L Stainless Steels 373 K. Hattar, T. Buchheit, P. Kotula, A. McGinnis, and L. Brewer Processing to Control Morphology and Texture in Magnetic Materials Processing to Enhance Performance in Rare Earth Permanent Magnets Cluster Synthesis, Direct Ordering and Alignment of Rare-Earth Transition-Metal Nanomagnets 385 B. Balamurugan, R. Skomski, and D. Le Roy Role of Magnetic Fields and Texturing to Improved Magnetic Materials Nanostructuring and Texturing for Improved Magnetic Materials 393 D. Sellmyer, Y. Liu, and T. George Author Index 403 Subject Index 407.
• (source: Nielsen Book Data)

Proceedings of symposia sponsored by the Energy Committee of the Extraction and Processing Division and the Light Metals Division of TMS (The Minerals, Metals & Materials Society) Held during the TMS 2012 Annual Meeting & Exhibition Orlando, Florida, USA, March 11-15,2012.
(source: Nielsen Book Data)

• Front Matter
• Section 1: Engineering Careers
• Section 2: Units
• Section 3: Engineering Design ₆ Process and Principles
• Section 4: Basic Mechanical Design
• Section 5: Motion
• Section 6: Deformable Body Mechanics
• Section 7: Material Failure
• Section 8: Thermodynamics and Cycles
• Section 9: Basic Fluid Mechanics and Aerodynamics
• Section 10: Fluid Equipment
• Section 11: Pressure Vessels
• Section 12: Materials
• Section 13: Machine Elements
• Section 14: Quality Assurance and Quality Control
• Section 15: Project Engineering
• Section 16: Welding
• Section 17: Non-Destructive Testing (NDT)
• Section 18: Surface Protection
• Section 19: Metallurgical Terms --.

• Front Matter
• Introduction and Conservation Equations
• Laminar Premixed Flames
• Laminar Non-Premixed Flames
• Background in Turbulent Flows
• Turbulent Premixed Flames
• Non-Premixed Turbulent Flames
• Background in Multiphase Flows with Reactions
• Spray Atomization and Combustion
• Appendix A: Useful Vector and Tensor Operations
• Appendix B: Constants and Conversion Factors Often Used in Combustion
• Appendix C: Naming of Hydrocarbons
• Appendix D: Detailed Gas-Phase Reaction Mechanism for Aromatics Formation
• Appendix E: Particle Size₆U.S. Sieve Size and Tyler Screen Mesh Equivalents
• Bibliography
• Index.

• Machine generated contents note: Preface.
• Chapter 1. Introduction and Conservation Equations.
• Chapter 2. Premixed Laminar Flames.
• Chapter 3. Laminar Non-Premixed Flames.
• Chapter 4. Background in Turbulent Flows.
• Chapter 5. Turbulent Premixed Flames.
• Chapter 6. Non-Premixed Turbulent Flames.
• Chapter 7. Background in Multiphase flow with Reactions.
• Chapter 8. Spray Atomization and Combustion.Appendix A. Useful Vector and Tensor Operations.Appendix B. Constants and Conversion Factors Often Used in Combustion.Appendix C. Naming of Hydrocarbons.Appendix D. Detailed Gas-phase Reaction Mechanism for Aromatics Formation.Appendix E. Particle Size
• US Sieve and Tyler Screen Mesh Equivalents.References.

This book is a follow-on to the author's bestseller, Principles of Combustion, Second Edition published in 2005. The text covers advanced topics of combustion and flame that are not covered anywhere else. Kuo provides a multiphase systems approach beginning with more common topics and moving to higher level applications such as reacting boundary layer flows, ignition of homogeneous mixtures, flame extinction phenomena, and detonation processes in condensed phase materials. As with Kuo's earlier book, large numbers of examples and problems and a solutions manual are provided.
(source: Nielsen Book Data)

• Preface ix Acknowledgements xi
• 1. Introduction 1 1.1 Wind energy and Planet Earth 1 1.2 Winds of the world 5 1.3 From windmills to wind turbines 9 1.4 Power, energy and performance 17 1.5 Coming up to date 24 References 29
• 2. Capturing the wind 31 2.1 Wind speed and power 31 2.2 Wild wind 37 2.2.1 Introductory 37 2.2.2 Wind statistics 40 2.2.3 Mapping and forecasting 49 2.3 Predicting turbine output 57 References 61
• 3. Wind turbines 63 3.1 Turbine types and sizes 63 3.2 Aerodynamics 69 3.2.1 Rotor effi ciency and the Betz Limit 69 3.2.2 Lift and drag 72 3.2.3 Rotor speed 80 3.2.4 Rotor blades 87 3.2.4.1 Choosing airfoils 87 3.2.4.2 Stall and pitch control 90 3.3 Mechanics 94 3.3.1 Gearboxes 94 3.3.2 Towers 97 3.3.3 Vibration and fatigue 98 3.4 Electrics 107 3.4.1 AC electricity 107 3.4.2 Generators 116 3.4.2.1 Introductory 116 3.4.2.2 Synchronous generators 122 3.4.2.3 Asynchronous generators 128 3.4.2.3.1 Squirrel-cage and wound-rotor induction machines 128 3.4.2.3.2 Doubly-fed induction generators 133 3.5 Turbine control 138 3.6 Onshore wind farms 143 3.6.1 Introductory 143 3.6.2 Siting and spacing 146 3.6.3 Monitoring and control 150 References 152
• 4. Moving offshore 153 4.1 Introductory 153 4.2 Wind and waves 157 4.3 Turbines and foundations 161 4.4 Offshore wind farms 166 4.4.1 Case study: Horns Rev 2
• 166 4.4.2 Case study: London Array
• 170 4.5 Bringing the power ashore 173 References 177
• 5. Grid integration 179 5.1 Setting the scene 179 5.2 Connecting to the grid 182 5.2.1 Grid strength and fault levels 182 5.2.2 Electrical quality 186 5.3 Large-scale wind power 190 5.3.1 Introductory 190 5.3.2 Intermittency and variability 191 5.3.3 Capacity credit and backup generation 194 References 198
• 6. Economics and the environment 199 6.1 Wind energy economics 199 6.1.1 Capital and installation costs 199 6.1.2 Operation, maintenance and cash fl ow 202 6.2 Environmental aspects 204 6.2.1 Introductory 204 6.2.2 Landscape and amenity 207 6.2.3 Birds, bats and farming 211 6.2.4 Seabirds, fi sh and marine conservation 216 References 218 Index 219.
• (source: Nielsen Book Data)

A highly accessible and authoritative account of wind energy's scientific background, current technology, and international status, with an emphasis on large turbines and wind farms, both onshore and offshore Topics covered include:* a brief history of wind energy* the nature of the wind* turbine aerodynamics, mechanics, and electrics* wind farms* offshore opportunities and challenges* grid integration of wind energy* economic and environmental aspects Whilst intellectually rigorous, this is not an academic treatise. Key equations are fully discussed, providing essential theoretical background. The text is supported by copious illustrations and about 50 inspiring full-colour photographs from around the world. This book is aimed at a wide readership including professionals, policy makers and employees in the energy sector in need of a basic appreciation of the underlying principles of wind energy or a quick update. Its style and level will also appeal to second and third year undergraduate and postgraduate students of renewable and wind energy, energy systems and electrical/electronic engineering. It also gives a concise account of the technology for the large and growing number of people who are interested in onshore and offshore wind farms and the contribution they are making to carbon-free electricity generation in the 21st century.
(source: Nielsen Book Data)

• Frontmatter
• Methodology. Methodology
• Fundamentals
• Conservation Equations
• Incompressible Flow
• Compressible Flow
• Network Analysis
• Transient Analysis
• Uncertainty
• Loss Coefficients. Loss Coefficients
• Surface Friction
• Entrances
• Contractions
• Expansions
• Exits
• Orifices
• Flow Meters
• Bends
• Tees
• Pipe Joints
• Valves
• Threaded Fittings
• Flow Phenomena. Flow Phenomena
• Cavitation
• Flow-Induced Vibration
• Temperature Rise
• Flow to Run Full
• Appendix A: Physical Properties of Water at 1 Atmosphere
• Appendix B: Pipe Size Data
• Appendix C: Physical Constants and Unit Conversions
• Appendix D: Compressibility Factor Equations
• Appendix E: Adiabatic Compressible Flow with Friction, Using Mach Number as a Parameter
• Appendix F: Velocity Profile Equations
• Index.

Pipe Flow provides the information required to design and analyze the piping systems needed to support a broad range of industrial operations, distribution systems, and power plants. Throughout the book, the authors demonstrate how to accurately predict and manage pressure loss while working with a variety of piping systems and piping components. The book draws together and reviews the growing body of experimental and theoretical research, including important loss coefficient data for a wide selection of piping components. Experimental test data and published formulas are examined, integrated and organized into broadly applicable equations. The results are also presented in straightforward tables and diagrams. Sample problems and their solution are provided throughout the book, demonstrating how core concepts are applied in practice. In addition, references and further reading sections enable the readers to explore all the topics in greater depth. With its clear explanations, Pipe Flow is recommended as a textbook for engineering students and as a reference for professional engineers who need to design, operate, and troubleshoot piping systems. The book employs the English gravitational system as well as the International System (or SI).
(source: Nielsen Book Data)

• Front Matter
• Overture. Wear in the Heavy Duty Engine
• Engine Size and Life
• Valve Train Components. Inlet Valve Seat Wear in High bmep Diesel Engines
• Wear of the Cam Follower and Rocker Toe
• Liner, Piston and Piston Rings. Liner Wear: Wear of Roughness Peaks in Sparse Contact
• Generalized Boundary Conditions for Designing Diesel Pistons
• Bore Polishing Wear in Diesel Engine Cylinders
• Abrasive Wear of Piston Grooves in Highly Loaded Diesel Engines
• Abrasive Wear of Liners and Piston Rings
• Corrosive Wear
• Tribological Tests to Simulate Wear on Piston Rings
• Engine Bearings. Friction and Wear in Engine Bearings
• Lubricating Oils for Modern Engines. Heavy Duty Diesel Engine Oils, Emission Strategies and their Effect on Engine Oils
• Fuel Injection Equipment. Wear of Fuel Injection Equipment
• Heavy Fuel Engines. Wear with Heavy Fuel Oil Operation
• Filters. Air and Oil Filtration and Its Impact on Oil Life and Engine Wear Life
• Index.

The critical parts of a heavy duty engine are theoretically designed for infinite life without mechanical fatigue failure. Yet the life of an engine is in reality determined by wear of the critical parts. Even if an engine is designed and built to have normal wear life, abnormal wear takes place either due to special working conditions or increased loading. Understanding abnormal and normal wear enables the engineer to control the external conditions leading to premature wear, or to design the critical parts that have longer wear life and hence lower costs. The literature on wear phenomenon related to engines is scattered in numerous periodicals and books. For the first time, Lakshminarayanan and Nayak bring the tribological aspects of different critical engine components together in one volume, covering key components like the liner, piston, rings, valve, valve train and bearings, with methods to identify and quantify wear. The first book to combine solutions to critical component wear in one volumePresents real world case studies with suitable mathematical models for earth movers, power generators, and sea going vesselsIncludes material from researchers at Schaeffer Manufacturing (USA), Tekniker (Spain), Fuchs (Germany), BAM (Germany), Kirloskar Oil Engines Ltd (India) and Tarabusi (Spain)Wear simulations and calculations included in the appendicesInstructor presentations slides with book figures available from the companion site Critical Component Wear in Heavy Duty Engines is aimed at postgraduates in automotive engineering, engine design, tribology, combustion and practitioners involved in engine R&D for applications such as commercial vehicles, cars, stationary engines (for generators, pumps, etc.), boats and ships. This book is also a key reference for senior undergraduates looking to move onto advanced study in the above topics, consultants and product mangers in industry, as well as engineers involved in design of furnaces, gas turbines, and rocket combustion. Companion website for the book: www.wiley.com/go/lakshmi.
(source: Nielsen Book Data)

• Preface xi Introduction xiii
• 1 Kinematic Models for Mobile Robots 1 1.0 Introduction, 1 1.1 Vehicles with Front-Wheel Steering, 1 1.2 Vehicles with Differential-Drive Steering, 5 Exercises, 8 References, 9
• 2 Mobile Robot Control 11 2.0 Introduction, 11 2.1 Front-Wheel Steered Vehicle, Heading Control, 11 2.2 Front-Wheel Steered Vehicle, Speed Control, 22 2.3 Heading and Speed Control for the Differential-Drive Robot, 23 2.4 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot, 26 2.5 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model, 32 2.6 Computed Control for Heading and Velocity, Front-Wheel Steered Robot, 36 2.7 Heading Control of Differential Drive Robot Using the Nonlinear Model, 38 2.8 Computed Control for Heading and Velocity, Differential-Drive Robot, 39 2.9 Steering Control Along a Path Using a Local Coordinate Frame, 41 2.10 Optimal Steering of Front-Wheel Steered Vehicle, 54 2.11 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle, 75 Exercises, 77 References, 78
• 3 Robot Attitude 79 3.0 Introduction, 79 3.1 Defi nition of Yaw, Pitch and Roll, 79 3.2 Rotation Matrix for Yaw, 80 3.3 Rotation Matrix for Pitch, 82 3.4 Rotation Matrix for Roll, 84 3.5 General Rotation Matrix, 86 3.6 Homogeneous Transformation, 88 3.7 Rotating a Vector, 92 Exercises, 93 References, 94
• 4 Robot Navigation 95 4.0 Introduction, 95 4.1 Coordinate Systems, 95 4.2 Earth-Centered Earth-Fixed Coordinate System, 96 4.3 Associated Coordinate Systems, 98 4.4 Universal Transverse Mercator (UTM) Coordinate System, 102 4.5 Global Positioning System, 104 4.6 Computing Receiver Location Using GPS, Numerical Methods, 108 4.6.1 Computing Receiver Location Using GPS via Newton's Method, 108 4.6.2 Computing Receiver Location Using GPS via Minimization of a Performance Index, 116 4.7 Array of GPS Antennas, 123 4.8 Gimbaled Inertial Navigation Systems, 126 4.9 Strap-Down Inertial Navigation Systems, 131 4.10 Dead Reckoning or Deduced Reckoning, 137 4.11 Inclinometer/Compass, 138 Exercises, 142 References, 147
• 5 Application of Kalman Filtering 149 5.0 Introduction, 149 5.1 Estimating a Fixed Quantity Using Batch Processing, 149 5.2 Estimating a Fixed Quantity Using Recursive Processing, 151 5.3 Estimating the State of a Dynamic System Recursively, 156 5.4 Estimating the State of a Nonlinear System via the Extended Kalman Filter, 169 Exercises, 185 References, 189
• 6 Remote Sensing 191 6.0 Introduction, 191 6.1 Camera Type Sensors, 191 6.2 Stereo Vision, 202 6.3 Radar Sensing: Synthetic Aperture Radar (SAR), 206 6.4 Pointing of Range Sensor at Detected Object, 212 6.5 Detection Sensor in Scanning Mode, 217 Exercises, 222 References, 223
• 7 Target Tracking Including Multiple Targets with Multiple Sensors 225 7.0 Introduction, 225 7.1 Regions of Confidence for Sensors, 225 7.2 Model of Target Location, 232 7.3 Inventory of Detected Targets, 239 Exercises, 244 References, 245
• 8 Obstacle Mapping and its Application to Robot Navigation 247 8.0 Introduction, 247 8.1 Sensors for Obstacle Detection and Geo-Registration, 248 8.2 Dead Reckoning Navigation, 249 8.3 Use of Previously Detected Obstacles for Navigation, 252 8.4 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot, 258 Exercises, 262 References, 263
• 9 Operating a Robotic Manipulator 265 9.0 Introduction, 265 9.1 Forward Kinematic Equations, 265 9.2 Path Specifi cation in Joint Space, 269 9.3 Inverse Kinematic Equations, 271 9.4 Path Specifi cation in Cartesian Space, 276 9.5 Velocity Relationships, 284 9.6 Forces and Torques, 289 Exercises, 292 References, 293
• 10 Remote Sensing via UAVS 295 10.0 Introduction, 295 10.1 Mounting of Sensors, 295 10.2 Resolution of Sensors, 296 10.3 Precision of Vehicle Instrumentation, 297 10.4 Overall Geo-Registration Precision, 298 Exercises, 300 References, 300 Appendix A Demonstrations of Undergraduate Student Robotic Projects 301 A.0 Introduction, 301 A.1 Demonstration of the GEONAVOD Robot, 301 A.2 Demonstration of the Automatic Balancing Robotic Bicycle (ABRB), 302 See demonstration videos at http://www.wiley.com/WileyCDA/WileyTitle/productCd-0470630213.ht ml Index 305.
• (source: Nielsen Book Data)

An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle. In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagin's maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized. In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.
(source: Nielsen Book Data)

• Kinematic Models for Mobile Robots
• Mobile Robot Control
• Robot Attitude
• Robot Navigation
• Application of Kalman Filtering
• Remote Sensing
• Target Tracking Including Multiple Targets with Multiple Sensors
• Obstacle Mapping and its Application to Robot Navigation
• Operating a Robotic Manipulator
• Remote Sensing via UAVS
• Appendix A: Demonstrations of Undergraduate Student Robotic Projects
• Index.

An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle. In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagin's maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized. In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.
(source: Nielsen Book Data)

• Preface Notation and Abbreviations INTRODUCTION TO PREDICTIVE CONTROL Preview of Predictive Control Manipulated, Reference, and Controlled Signals Cost Function of Predictive Control Reference Signal and Disturbance Preview, Receding Horizon, One-Step-Ahead, and Long-Range Optimal Control Free and Forced Responses of the Predicted Controlled Variable Minimization of the Cost Function Simple Tuning Rules of Predictive Control Control of Different Linear SISO Processes Control of Different Linear MIMO Processes Control of Nonlinear Processes Control under Constraints Robustness Summary LINEAR SISO MODEL DESCRIPTIONS Nonparametric System Description Pulse-Transfer Function Model Discrete-Time State Space Model Summary PREDICTIVE ON-OFF CONTROL Classical On-Off Control by Means of Relay Characteristics Predictive Set Point Control Predictive Start-Up Control at a Reference Signal Change Predictive Gap Control Case Study: Temperature Control of an Electrical Heat Exchanger Summary GENERALIZED PREDICTIVE CONTROL OF LINEAR SISO PROCESSES Control Algorithm without Constraints Linear Polynomial Form of Unconstrained GPC Tuning the Controller Parameters Blocking and Coincidence Points Techniques Measured Disturbance Feed-Forward Compensation Control Algorithm with Constraints Extended GPC with Terminal Methods Summary PREDICTIVE PID CONTROL ALGORITHMS Predictive PI(D) Control Structure Predictive PI Control Algorithm Predictive PID Control Algorithm Equivalence between the Predictive PI(D) Algorithm and the Generalized Predictive Control Algorithm Tuning of Predictive PI(D) Algorithms Robustifying Effects Applied for Predictive PI(D) Control Algorithms Summary PREDICTIVE CONTROL OF MULTIVARIABLE PROCESSES Model Descriptions Predictive Equations The Control Algorithm Polynomial Form of the Controller (without Matrix Inversion) Pairing of the Controlled and the Manipulated Variables Scaling of the Controlled and the Manipulated Variables Tuning Decoupling Control Case Study: Control of a Distillation Column Summary ESTIMATION OF THE PREDICTIVE EQUATIONS LS Parameter Estimation More-Steps-Ahead Prediction Based on the Estimated Process Model Long-Range Optimal Single-Process Model Identification Multi-Step-Ahead Predictive Equation Identification Comparison of the Long-Range Optimal Identification Algorithms Case Study: Level Control in a Two-Tank Plant Summary MULTIMODEL AND MULTICONTROLLER APPROACHES Nonlinear Process Models Predictive Equations The Control Algorithm Case Study Summary GPC OF NONLINEAR SISO PROCESSES Nonlinear Process Models Predictive Equations for the Nonparametric and Parametric Hammerstein and Volterra Models Control Based on Nonparametric and Parametric Hammerstein and Volterra Models Control Based on Linearized Models Control Based on Nonlinear Free and Linearized Forced Responses Case Study: Level Control of a Two-Tank Plant Summary PREDICTIVE FUNCTIONAL CONTROL Control Strategy and Controller Parameters for a Constant Set Point PFC for Aperiodic Processes PFC with Disturbance Feed-Forward PFC with Constraints Nonlinear PFC for Processes with Signal-Dependent Parameters Case Study: Temperature Control of a Hot Air Blower Summary CASE STUDIES Predictive Temperature Control of an Injection Molding Machine Wastewater Quality Control of an Intermittently Operated Plant Wastewater Quality Control with Pre-Denitrification INDUSTRIAL APPLICATIONS Concentration Control and Pressure Minimization of a Petrochemical Distillation Column Concentration Control and Reducing Steam Consumption in a Stripping Column Temperature and Combustion Control of a Gas-Heated Furnace for Chemical Gasoline PRACTICAL ASPECTS AND FUTURE TRENDS Classification of a Predictive Control Project Project Implementation Implementation of a Predictive Controller Future Trends Summary.
• (source: Nielsen Book Data)

Describing the principles and applications of single input, single output and multivariable predictive control in a simple and lively manner, this practical book discusses topics such as the handling of on-off control, nonlinearities and numerical problems. It gives guidelines and methods for reducing the computational demand for real-time applications. With its many examples and several case studies (incl. injection molding machine and waste water treatment) and industrial applications (stripping column, distillation column, furnace) this is invaluable reading for students and engineers who would wish to understand and apply predictive control in a wide variety of process engineering application areas.
(source: Nielsen Book Data)

• PREFACE.
• 1 Fundamentals of Machine Vibration and Classical Solutions. The Main Sources of Vibration in Machinery. The Single Degree of Freedom (SDOF) Model. Using Simple Models for Analysis and Diagnostics. Six Techniques for Solving Vibration Problems with Forced Excitation. Some Examples with Forced Excitation. Illustrative Example
• 1. Illustrative Example
• 2. Illustrative Example
• 3. Illustrative Example
• 4. Some Observations about Modeling. Unstable Vibration. References. Exercises.
• 2 Torsional Vibration. Torsional Vibration Indicators. Objectives of Torsional Vibration Analysis. Simplified Models. Computer Models. Kinetic Energy Expression. Potential Energy. Torsional Vibration Measurement. French s Comparison Experiments. Strain Gages. Carrier Signal Transducers. Frequency-modulated Systems. Amplitude-modulated Systems. Frequency Analysis and the Sideband System. French s Test Procedure and Results. A Special Tape for Optical Transducers. Time-interval Measurement Systems. Results from Toram s Method. Results from the Barrios/Darlow Method. References. Exercises.
• 3 Introduction to Rotordynamics Analysis. Objectives of Rotordynamics Analysis. The Spring Mass Model. Synchronous and Nonsynchronous Whirl. Analysis of the Jeffcott Rotor. Polar Coordinates. Cartesian Coordinates. Physical Significance of the Solutions. Three Ways to Reduce Synchronous Whirl Amplitudes. Some Damping Definitions. The "Gravity Critical". Critical Speed Definitions. Effect of Flexible (Soft) Supports. Rotordynamic Effects of the Force Coefficients A Summary. The Direct Coefficients. The Cross-coupled Coefficients. Rotordynamic Instability. Effect of Cross-Coupled Stiffness on Unbalance Response. Added Complexities. Gyroscopic Effects. Effect of Support Asymmetry on Synchronous Whirl. False Instabilities. References. Exercises.
• 4 Computer Simulations of Rotordynamics. Different Types of Models. Bearing and Seal Matrices. Torsional and Axial Models. Different Types of Analyses. Eigenanalysis. Linear Forced Response (LFR). Transient Response. Shaft Modeling Recommendations. How Many Elements. 45-Degree Rule. Interference Fits. Laminations. Trunnions. Impeller Inertias via CAD Software. Stations for Added Weights. Rap Test Verification of Models. Stations for Bearings and Seals. Flexible Couplings. Example Simulations. Damped Natural Frequency Map (NDF). Modal Damping Map. Root Locus Map. Undamped Critical Speed Map. Mode Shapes. Bode/Polar Response Plot. Orbit Response Plot. Bearing Load Response Plot. Operating Deflected Shape (ODS). Housing Vibration (ips and g s). References.
• 5 Bearings and Their Effect on Rotordynamics. Fluid Film Bearings. Fixed-geometry Sleeve Bearings. Variable-geometry Tilting Pad Bearings. Fluid Film Bearing Dynamic Coefficients and Methods of Obtaining Them. Load Between Pivots Versus Load on Pivot. Influence of Preload on the Dynamic Coefficients in Tilt Pad Bearings. Influence of the Bearing Length or Pad Length. Influence of the Pivot Offset. Influence of the Number of Pads. Ball and Rolling Element Bearings. Case Study: Bearing Support Design for a Rocket Engine Turbopump. Ball Bearing Stiffness Measurements. Wire Mesh Damper Experiments and Computer Simulations. Squeeze Film Dampers. Squeeze Film Damper without a Centering Spring. O-ring Supported Dampers. Squirrel Cage Supported Dampers. Integral Squeeze Film Dampers. Squeeze Film Damper Rotordynamic Force Coefficients. Applications of Squeeze Film Dampers. Optimization for Improving Stability in a Centrifugal Process Compressor. Using Dampers to Improve the Synchronous Response. Using the Damper to Shift a Critical Speed or a Resonance. Insights into the Rotor Bearing Dynamic Interaction with Soft/Stiff Bearing Supports. Influence on Natural Frequencies with Soft/Stiff Bearing Supports. Effects of Mass Distribution on the Critical Speeds with Soft/Stiff Bearing Supports. Influence of Overhung Mass on Natural Frequencies with Soft/Stiff Supports. Influence of Gyroscopic Moments on Natural Frequencies with Soft/Stiff Bearing Supports. References. Exercises. Appendix: Shaft With No Added Weight.
• 6 Fluid Seals and Their Effect on Rotordynamics. Function and Classification of Seals. Plain Smooth Seals. Floating Ring Seals. Conventional Gas Labyrinth Seals. Pocket Damper Seals. Honeycomb Seals. Hole-pattern Seals. Brush Seals. Understanding and Modeling Damper Seal Force Coefficients. Alford s Hypothesis of Labyrinth Seal Damping. Cross-coupled Stiffness Measurements. Invention of the Pocket Damper Seal. Pocket Damper Seal Theory. Rotordynamic Testing of Pocket Damper Seals. Impedance Measurements of Pocket Damper Seal Force Coefficients (Stiffness and Damping) and Leakage at Low Pressures. The Fully Partitioned PDS Design. Effects of Negative Stiffness. Frequency Dependence of Damper Seals. Laboratory Measurements of Stiffness and Damping from Pocket Damper Seals at High Pressures. The Conventional Design. The Fully Partitioned Design. Field Experience with Pocket Damper Seals. Two Back-to-Back Compressor Applications. Case
• 1. Case
• 2. A Fully Partitioned Application. Designing for Desired Force Coefficient Characteristics. The Conventional PDS Design. The Fully Partitioned Pocket Damper Seal. Leakage Considerations. Some Comparisons of Different Types of Annular Gas Seals. References.
• 7 History of Machinery Rotordynamics. The Foundation Years, 1869
• 1941. Shaft Dynamics. Bearings. Refining and Expanding the Rotordynamic Model, 1942
• 1963. Multistage Compressors and Turbines, Rocket Engine Turbopumps, and Damper Seals, 1964 Present. Stability Problems with Multistage Centrifugal Compressors. Kaybob, 1971
• 72. Ekofisk, 1974
• 75. Subsequent Developments. New Frontiers of Speed and Power Density with Rocket Engine Turbopumps. The Space Shuttle Main Engine (SSME). High-pressure Fuel Turbopump (HPFTP). Rotordynamic Instability Problem. Noncontacting Damper Seals. Shaft Differential Heating (The Morton Effect). References. INDEX.
• (source: Nielsen Book Data)

The book is a text/reference for rotating machinery vibrations and related topics such as bearings and seals with information suitable for both novices and experts. It contains fundamental physical phenomena, mathematical and computational aspects, practical hardware considerations and troubleshooting and instrumentation and measurement techniques. Case studies of vibration problems in several different types of machines are included as well as computer simulation models used in industry. With applicable theory supplying the tools for success, Machine Vibration and Rotordynamics is a must have for engineers and designers.
(source: Nielsen Book Data)

• Preface. Contributors. 1 Fundamentals of Microfluidics Devices (Kweku A. Addae-Mensah, Zuankai Wang, Hesam Parsa, Sau Y. Chin, Tassaneewan Laksanasopin, and Samuel K. Sia ). 2 Spatiotemporally Controlled Nanoliter-Scale Reconfigurable Microfluidics (Michael D. Genualdi and David H. Gracias ). 3 Microfluidic Devices for Studying Kinetics ( Derek J. Wilson ). 4 Computational Strategies for Micro- and Nanofluidic Dynamics ( Dimitris Drikakis, Nikolaos Asproulis, Evgeniy Shapiro, and Matyas Benke ). 5 Nanofluidic Devices and Their Potential Applications ( Patrick Abgrall, Aurelien Bancaud, and Pierre Joseph ). 6 Particle Transport in Magnetophoretic Microsystems ( Edward P. Furlani ). 7 Particles in Microfluidic Systems ( Adrienne R. Minerick ). 8 In situ Nanoparticle Focusing Within Microfluidics ( Jie Wu ). 9 Residence Time Distribution and Nanoparticle Formation in Microreactors (Gregor Alexander Gross and Johann Michael Kohler). Index.
• (source: Nielsen Book Data)

Nanotechnology, especially microfabrication, has been affecting every facet of traditional scientific disciplines. The first book on the application of microfluidic reactors in nanotechnology, Microfluidic Devices in Nanotechnology provides the fundamental aspects and potential applications of microfluidic devices, the physics of microfluids, specific methods of chemical synthesis of nanomaterials, and more. As the first book to discuss the unique properties and capabilities of these nanomaterials in the miniaturization of devices, this text serves as a one-stop resource for nanoscientists interested in microdevices.
(source: Nielsen Book Data)

• Front Matter
• Modern Grinding Techniques.

• INTRODUCTION TO RENEWABLE RESOURCES IN THE CHEMICAL INDUSTRY PLANTS AS BIOREACTORS: PRODUCTION AND USE OF PLANT-DERIVED SECONDARY METABOLITES, ENZYMES, AND PHARMACEUTICAL PROTEINS Introduction Renewable Resources in the Chemical Industry Fine Chemicals and Drugs Plant-Made Pharmaceuticals WORLD AGRICULTURAL CAPACITY Petrochemicals Today Renewable Chemicals Agricultural Production Supplying the Chemical Industry Summary LOGISTICS OF RENEWABLE RAW MATERIALS Introduction Determining Factors for the Logistics of Industrial Utilization Chains for Renewable Raw Materials Processing Steps of Renewable Raw Material Logistic Chains Design and Planning of Renewable Raw Material Logistic Chains Summary and Conclusions EXISTING VALUE CHAINS Industrial Biotechnology Today - Main Products, Substrates, and Raw Materials White Biotechnology - Future Products from Today's Raw Materials? Effects of Feedstock and Process Technology onthe Production Cost of Chemicals New Raw Materials for White Biotechnology Case Studies: Lignocellulose as Raw Material and Intermediates Case Studies: "SCOs" as Raw Material and Intermediate Conclusions FUTURE BIOREFINERIES Introduction Current and Future Outlook for Biofuels Chemicals from Renewable Resources The Role of Clean Technologies in Biorefineries The Size of Future Biorefineries Conclusions ECONOMIC AND SOCIAL IMPLICATIONS OF THE INDUSTRIAL USE OF RENEWABLE RAW MATERIALS Introduction Biorefinery Industry and the Development of EU Rural Areas From Analytic to Systemic Modeling Methodology of the Biorefinery Industry Stakeholders' Perceptions of Biorefinery in Rural Areas: Issues and Lessons from the South of Italy Concluding Remarks BIOBASED PRODUCTS - MARKET NEEDS AND OPPORTUNITIES Introduction Definition Basic Technology for the Conversion of Renewable Raw Materials Classes of Bioproducts Current Status Outlook and Perspectives LIFE-CYCLE ANALYSIS OF BIOBASED PRODUCTS Introduction: Why Life-Cycle Analysis of Biobased Products? The Methodological Framework of LCA Specific Methodological Aspects for LCA for Biobased Products LCA Studies for Biobased Products: Major Findings and Insights Conclusions CONCLUSION.
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One of the main challenges facing the chemical industry is the transition to sustainable operations. Industries are taking initiatives to reduce resource intensities or footprints, and by adopting safer materials and processes. Such efforts need to be supported by techniques that can quantify the broad economic and environmental implications of industrial operations, retrofit options and provide new design alternatives. This contemporary overview focuses on cradle-to-grave life cycle assessments of existing or conceptual processes for producing value added fuels, chemicals, and/or materials from renewable agricultural residues, plant-derived starches and oils, lignocellulosic biomass, and plant-based industrial processing wastes. It presents the key concepts, systems, and technologies, with an emphasis on new feedstocks for the chemical industry. Each chapter uses common themes of specific raw materials, thus forming a natural progression throughout the book. The result is coverage from a wide range of perspectives, emphasizing not only the technical issues but also considering the market place and socio-economic aspects.
(source: Nielsen Book Data)

• Preface. Acknowledgments.
• 1. We Need Energy. 1.1. Generalities. 1.2. Always More!
• 2. Oil and Natural Gas. 2.1. Genesis of Oil and Natural Gas. 2.2. Recovering Oil and Gas. 2.3. Peak Oil. 2.4. Reserves. 2.5. Properties of Hydrocarbons. 2.6. Oil Fields. 2.7. Prices. 2.8. Consumption. 2.9. Electricity Generation. 2.10. Impact on Environment. 2.11. Unconventional Oil and Gas Resources. 2.12. Conclusion.
• 3. Coal: Fossil Fuel of the Future. 3.1. Genesis of Coal. 3.2. Rank of Coals. 3.3. Classification of Coals. 3.4. Peat. 3.5. Use of Coal. 3.6. Coal Reserves. 3.7. Production and Consumption. 3.8. Electricity Production. 3.9. Coal Combustion for Power Generation. 3.10. Combined Heat and Power Generation. 3.11. Integrated Gasification Combined-Cycle Power Plants. 3.12. Coal-to-Liquid Technologies. 3.13. Direct Coal Liquefaction. 3.14. Indirect Coal Liquefaction. 3.15. Direct or Indirect CTL Technology? 3.16. Carbon Capture and Sequestration. 3.17. Coal Pit Accidents. 3.18. Environmental Impacts. 3.19. Conclusion.
• 4. Fossil Fuels and Greenhouse Effect. 4.1. Greenhouse Effect. 4.2. Greenhouse Gases. 4.3. Weather and Climate. 4.4. Natural Change of Climate. 4.5. Anthropogenic Emissions. 4.6. Water and Aerosols. 4.7. Global Warming Potentials. 4.8. Increase of Average Temperature. 4.9. Model Predictions. 4.10. Energy and Greenhouse Gas Emissions. 4.11. Consequences. 4.12. Other Impacts on Ocean. 4.13. Factor
• 4. 4.14. Kyoto Protocol. 4.15. Conclusion.
• 5. Energy from Water. 5.1. Hydropower. 5.2. Energy from the Ocean.
• 6. Biomass. 6.1. Producing Biomass. 6.2. An Old Energy Resource. 6.3. Electricity Production. 6.4. Technologies. 6.5. Heat Production. 6.6. Biomass for Cooking. 6.7. Environmental Impact. 6.8. Market Share. 6.9. Biofuels. 6.10. From Well to Wheels. 6.11. Conclusion.
• 7. Solar Energy. 7.1. Solar Energy: A Huge Potential. 7.2. Thermal Solar Energy. 7.3. Concentrated Solar Power Plants. 7.4. Solar Chimneys or Towers. 7.5. Photovoltaic Systems. 7.6. Electricity Storage. 7.7. Economy and Environment. 7.8. Conclusion.
• 8. Geothermal Energy. 8.1. Available in Many Places. 8.2. Different Uses. 8.3. Technologies. 8.4. Geothermal Energy in the World. 8.5. Conclusion.
• 9. Wind Energy. 9.1. Already a Long History. 9.2. From Theory to Practice. 9.3. Development of Wind Power. 9.4. Off-Shore Wind Turbines. 9.5. Conclusion.
• 10. Nuclear Energy. 10.1. Basics of Nuclear Energy. 10.2. Uses of Nuclear Energy. 10.3. Thermonuclear Fusion. Appendix.
• 11. Electricity: Smart Use of Energy. 11.1. Rapid Development. 11.2. Energy Sources for Electricity Production. 11.3. No Unique Solution. 11.4. From Mechanical Energy to Consumer. 11.5. Impact on Environment. 11.6. Cost. 11.7. Conclusion.
• 12. Energy Storage: Weak Point of Energy Supply Chain. 12.1. Electricity Storage. 12.2. Thermal Energy Storage.
• 13. Transportation. 13.1. Short History of Transportation. 13.2. Energy and Transportation. 13.3. Road Transportation. 13.4. Ship Transportation. 13.5. Air Transport. 13.6. Car Dynamics. 13.7. Fuels for Road Transportation. 13.8. CO 2 Emissions. 13.9. Hybrid Vehicles. 13.10. Electric Vehicles. 13.11. Conclusion.
• 14. Housing. 14.1. Importance of Housing. 14.2. Towards More Efficient Housing. 14.3. Different Regions, Different Solutions. 14.4. Bioclimatic Architecture. 14.5. Insulation. 14.6. Glazing. 14.7. Lighting. 14.8. Ventilation. 14.9. Water. 14.10. Energy Use in a Household. 14.11. Heat Pumps. 14.12. Impact on Environment. 14.13. Conclusion.
• 15. Smart Energy Consumption. 15.1. Housing. 15.2. Improving the Way We Consume Energy. 15.3. Cogeneration. 15.4. Standby Consumption. 15.5. Lighting. 15.6. Transportation. 15.7. Conclusion.
• 16. Hydrogen. 16.1. From Production to Distribution. 16.2. Hydrogen: Energetic Applications.
• 17. Conclusion. Exercises. Solutions. Bibliography. Index .
• (source: Nielsen Book Data)

A Wiley Survival Guide on our Energy Future Concerned about our energy future? Turn to this guide for easy-to-grasp and up-to-date coverage of the many aspects of the energy value chain: Oil and natural gas Coal Fossil fuels and the greenhouse effect Energy from water Biomass Solar energy Geothermal energy Wind energy Nuclear energy Electricity Energy storage Transportation Housing Smart energy consumption Hydrogen Armed with the knowledge in this book, students, teachers, decision-makers, politicians, and consumers can form educated and informed opinions on the future of energy and its impact on the economy, health, and the environment.
(source: Nielsen Book Data)

• Series Preface. Preface. Part I: General Considerations.
• 1 Tribology - Friction, Wear, and Lubrication. 2 Lubricants and Lubrication. 3 Surface Texture and Interactions. 4 Bearing Materials. Part II: Fluid-Film Bearings.
• 5 Fundamentals of Viscous Flow. 6 Reynolds Equation and Applications. 7 Thrust Bearings. 8 Journal Bearings. 9 Squeeze-Film Bearings. 10 Hydrostatic Bearings. 11 Gas Bearings. 12 Dry and Starved Bearings. Part III: Rolling Element Bearings.
• 13 Selecting Bearing Type and Size. 14 Principles and Operating Limits. 15 Friction, Wear and Lubrication. Part IV: Seals and Monitoring.
• 16 Seal Fundamentals. 17 Condition Monitoring and Failure Analysis. Appendix A Unit Conversion Factors. Appendix B Viscosity Conversions. Index.
• (source: Nielsen Book Data)

Applications of tribological technology in bearings are wide and varied in industries ranging from aerospace, marine and automotive to power, process, petrochemical and construction. Applied Tribology, 2nd edition not only covers tribology in bearings but demonstrates the same principles for other machine components, such as piston pins, piston rings and hydrostatic lifts, as well as in more recent technologies such as gas bearings in high-speed machines and computer read-write devices. Maintaining a balance between theoretical analysis and practical experience with co-authors from academia and industry, this new edition is significantly revised and expanded with new material. Features include; * Two brand new chapters on seals and bearing failure modes and bearing health monitoring techniques * Coverage of new developments in full-film, dry, and partial lubrication; gas bearings; and ball and roller bearings * Design guides based on full Reynolds equation that enable accurate prediction of load capacity, power loss, temperature rise * Comprehensive presentation of important design factors involving material and lubricants. * State-of-the-art presentation and up-to-date references of pertinent scientific and applied topics in tribology * Numerous examples that reinforce the understanding of concepts and provide procedures for the design and performance analysis of components Applied Tribology, 2nd edition provides a valuable and authoritative resource for mechanical engineering professionals working in a wide range of industries with machinery including turbines, compressors, motors, electrical appliances & electronic components. Senior and graduate students in mechanical engineering will also find it a useful text and reference.
(source: Nielsen Book Data)

• Chapter 1. Modeling and Identification of Serial Robots (Wisama KHALIL and Etienne DOMBRE). 1.1. Introduction. 1.2. Geometric modeling. 1.3. Kinematic modeling. 1.4. Calibration of geometric parameters. 1.5. Dynamic modeling. 1.6. Identification of dynamic parameters. 1.7. Conclusion. 1.8. Bibliography.
• Chapter 2. Modeling of Parallel Robots (Jean-Pierre MERLET and Francois PIERROT). 2.1. Introduction. 2.2. Machine types. 2.3. Inverse geometric and kinematic models. 2.4. Direct geometric model. 2.5. Bibliography.
• Chapter 3. Performance Analysis of Robots (Philippe WENGER). 3.1. Introduction. 3.2. Accessibility. 3.3. Workspace of a robot manipulator. 3.4. Concept of aspect. 3.5. Concept of connectivity. 3.6. Local performances. 3.7. Conclusion. 3.8. Bibliography.
• Chapter 4. Trajectory Generation (Moussa HADDAD, Taha CHETTIBI, Wisama KHALIL and Halim LEHTIHET). 4.1. Introduction. 4.2. Point-to-point trajectory in the joint space under kinematic constraints. 4.3. Point-to-point trajectory in the task-space under kinematic constraints. 4.4. Trajectory generation under kinodynamic constraints. .4.5. Examples. .4.6. Conclusion. 4.7. Bibliography. Appendix: Stochastic Optimization Techniques.
• Chapter 5. Position and Force Control of a Robot in a Free or Constrained Space (Pierre DAUCHEZ and Philippe FRAISSE). 5.1. Introduction. 5.2. Free space control. 5.3. Control in a constrained space. 5.4. Conclusion. 5.5. Bibliography.
• Chapter 6. Visual Servoing (Francois CHAUMETTE). 6.1. Introduction. 6.2. Modeling visual features. 6.3. Task function and control scheme. 6.4. Other exteroceptive sensors. 6.5. Conclusion. 6.6. Bibliography.
• Chapter 7. Modeling and Control of Flexible Robots (Frederic BOYER, Wisama KHALIL, Mouhacine BENOSMAN and George LEVEY). 7.1. Introduction. 7.2. Modeling of flexible robots. 7.3. Control of flexible robot manipulators. 7.4. Conclusion. 7.5. Bibliography. List of Authors. Index.
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This book presents the most recent research results on modeling and control of robot manipulators.*Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.*Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.*Chapter 3 introduces global and local tools for performance analysis of serial robots.*Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.*Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).* In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
(source: Nielsen Book Data)

• Einfuhrung in die Greifertechnik Automatisches Greifen Bauformen der Greifer Handachsen und Kinematik Greifersteuerung Greifersensorik Greiferwechselvorrichtungen Fugemechanismen Kollisionsschutz und Sicherheit Ausgewahlte Greiferanwendungen Anhang.
• (source: Nielsen Book Data)

• Preface. 1 Introduction to Prehension Technology. 1.1 Grippers for Mechanization and Automation. 1.2 Definitions and Conceptual Basics. 1.3 Grasping in Natural Systems. 1.4 Historical Overview of Technical Hands. 2 Automatic Prehension. 2.1 Active Pair MatingPair Mating. 2.2 Strategy and Procedures. 2.2.1 Prehension Strategy. Example of a prehension strategy. 2.2.2 Gripping Procedure, Conditions and Force. 2.2.3 Gripper Flexibility. 2.3 Gripper Classification. 2.4 Requirements and Gripper Characteristics. 2.5 Planning and Selection of Grippers. 3 Impactive Mechanical Grippers. 3.1 Gripper DrivesDrives. 3.1.1 Electromechanical Drives. 3.1.2 Pneumatic Drives. 3.1.3 Electrostrictive and Piezoelectric Actuation. 3.2 Design of Impactive Grippers. 3.2.1 Systematics and Kinematics. 3.2.1.1 Parallel Impactive Grippers. 3.2.2 Angular Impactive Grippers. 3.2.3 Radial Impactive Grippers (Centring Grippers). 3.2.4 Internal Grippers. 3.2.5 Gripper with Self-blocking Capability. 3.2.6 Rotatable Jaw Grippers. 3.2.7 Gripper Finger and Jaw Design. 3.2.8 Self Securing Grippers. 3.2.8.1 Securing Through Spring Forces. 3.2.8.2 Securing Through Object Mass. 3.2.9 Three-finger Grippers. 3.2.10 Four-finger Grippers and Four-point Prehension. 4 Ingressive Grippers. 4.1 Flexible Materials. 4.1.1 Pinch Mechanisms. 4.1.2 Intrusive Mechanisms. 4.1.3 Non-Intrusive Mechanisms. 5 Astrictive Prehension. 5.1 Vacuum Suction. 5.1.1 Vacuum Production. 5.1.2 Vacuum Suckers. 5.1.3 Passive Suction Caps. 5.1.4 Air Jet Grippers. 5.2 Magnetoadhesion. 5.2.1 Permanent Magnet Grippers. 5.2.2 Electromagnetic Grippers. 5.2.3 Hybrid Electromagnetic Grippers. 5.4 Electroadhesion. 5.4.1 Electroadhesive Prehension of Electrical Conductors. 5.4.2 Electroadhesive Prehension of Electrical Insulators. 6 Contigutive Prehension. 6.1 Chemoadhesion. 6.2 Thermoadhesion. 7 Miniature Grippers and Microgrippers. 7.1 Impactive Microgrippers. 7.1.1 Electromechanically Driven Impactive Microgrippers. 7.1.2 Thermally Driven Impactive Microgrippers. 7.1.3 Electrostatically Driven Impactive Microgrippers. 7.2 Astrictive Microgrippers. 7.2.1 Vacuum Microgrippers. 7.2.2 Electroadhesive Microgrippers. 7.3 Contigutive Microgrippers. 8 Special Designs. 8.1 Clasping (Embracing) Grippers. 8.2 Anthropomorphic Grippers. 8.2.1 Jointed finger Grippers. 8.2.2 Jointless Finger Grippers. 8.3 Dextrous Hands. 9 Hand Axes and Kinematics. 9.1 Kinematic Necessities and Design. 9.2 Rotary and Pivot Units. 10 Separation. 10.1 Separation of Randomly Mixed Materials. 10.2 Separation of Rigid Three Dimensional Objects. 10.3 Separation of Rigid Sheet Materials. 10.3.1 Gripping of Thin Blanks from a Magazine. 10.3.2 Air Flow Grippers. 10.4 Separation of Non-Rigid Sheet Materials. 10.4.1 Roller Grippers. 11 Instrumentation and Control. 11.1 Gripper Sensor Technology. 11.2 Perception Types. 11.2.1 Tactile Sensors. 11.2.2 Proximity Sensors. 11.2.3 Measurement sensors. 11.2.4 Finger Position Measurement. 11.2.5 Measuring Procedures in the Gripper. 11.3 Sensory Integration. 11.3.1 Discrete and Continuous Sensing. 11.3.2 Software and Hardware Interrupts. 11.3.3 Sensor FusionSensor Fusion. 11.4 Gripper Control. 11.4.1 Control of Pneumatically Driven Grippers. 11.4.2 Control of Electrically Driven Grippers. 12 Tool Exchange and Reconfigurability. 12.1 Multiple Grippers. 12.1.1 Double and Multiple Grippers. 12.1.2 Multiple Gripper Transfer Rails. 12.1.3 Turrets. 12.2 Specialized Grippers. 12.2.1 Composite Grippers. 12.2.2 Reconfigurable Grippers. 12.2.3 Modular Gripper Systems. 12.3 Gripper Exchange Systems. 12.3.1 Tool Exchange. 12.3.2 Task, Functions and Coupling Elements. 12.3.3 Joining Techniques and Process Media Connection. 12.3.4 Manual Exchange Systems. 12.3.5 Automatic Exchange Systems. 12.3.6 Finger Exchange Systems. 12.4 Integrated Processing. 13 Compliance. 13.1 Remote Centre Compliance (RCC). 13.2 Instrumented Remote Centre Compliance (IRCC). 13.3 Near Collet Compliance (NCC). 13.4 Parts Feeding. 13.5 Mechanical Compliance. 13.6 Pneumatic Compliance. 13.6.1 Internal Prehension Through Membrane Expansion. 13.6.2 External Prehension Through Membrane Expansion. 13.7 Shape Adaptive Grippers. 13.7.1 Partially Ccompliant Shape Adaptive Grippers. 13.7.2 Totally Compliant Shape Adaptive Grippers. 13.8 Collision Protection and Safety. 13.8.1 Safety Requirements. 13.8.2 Collision Protection Systems. 13.8.3 Failure Safety. 14 Selected Case Studies. 14.1 Simple Telemanipulation. 14.2 Grippers for Sheet and Plate Components. 14.2.1 Impactive Grippers for Sheet Metal Handling. 14.2.2 Astrictive Grippers for Sheet Metal. 14.2.3 Astrictive Grippers for Glass Sheet. 14.2.4 Astrictive Grippers for Composite Material Handling. 14.3 Prehension of Cuboid Objects. 14.4 Prehension of Cylindrical Objects. 14.4.1 Serial Prehension of Tubes. 14.4.2 Prehension of Wound Coils. 14.4.3 Prehension of Slit Coils. 14.5 Prehension of Objects with Irregular Topology. 14.5.1 Handling of Castings. 14.5.2 Mounting of Dashboards for Automobiles. 14.5.3 Prehension of Water Pumps. 14.5.4 Astrictive Prehension of Irregular Surfaces. 14.6 Multiple Object Prehension. 14.6.1 Packaging of Candies. 14.6.2 Bottle Palletization. 14.6.3 Multiple Irregular Shaped Objects. 14.7 Prehension of Flexible Objects. 14.7.1 Bag and Sack Grippers. 14.7.2 Gripping and Mounting of Outside O-rings. 14.8 Medical Applications. References. Subject Index.
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Since robotic prehension is widely used in all sectors of manufacturing industry, this book fills the need for a comprehensive, up-to-date treatment of the topic. As such, this is the first text to address both developers and users, dealing as it does with the function, design and use of industrial robot grippers. The book includes both traditional methods and many more recent developments such as micro grippers for the optolectronics industry. Written by authors from academia, industry and consulting, it begins by covering the four basic categories of robotic prehension before expanding into sections dealing with endeffector design and control, robotic manipulation and kinematics. Later chapters go on to describe how these various gripping techniques can be used for a common industrial aim, with details of related topics such as: kinematics, part separation, sensors, tool excahnge and compliance. The whole is rounded off with specific examples and case studies. With more than 570 figures, this practical book is all set to become the standard for advanced students, researchers and manufacturing engineers, as well as designers and project managers seeking practical descriptions of robot endeffectors and their applications.
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• Preface. Notation. 1 Introduction. 1.1 Systems and Control 1.2 Modern Control Theory 1.3 Stability 1.4 Optimal Control 1.5 Optimal Control Approach 1.6 Kharitonov Approach 1.7 H- and H2 Control 1.8 Applications 1.9 Use of This Book 2 Fundamentals of Control Theory. 2.1 State Space Model 2.2 Responses of Linear Systems 2.3 Similarity Transformation 2.4 Controllability and Observability 2.5 Pole Placement by State Feedback 2.6 Pole Placement Using Observer 2.7 Notes and References 2.8 Problems 3 Stability Theory. 3.1 Stability and Lyapunov Theorem 3.2 Linear Systems 3.3 Routh-Hurwitz Criterion 3.4 Nyquist Criterion 3.5 Stabilizability and Detectability 3.6 Notes and References 3.7 Problems 4 Optimal Control and Optimal Observers. 4.1 Optimal Control Problem 4.2 Principle of Optimality 4.3 Hamilton-Jacobi-Bellman Equation 4.4 Linear Quadratic Regulator Problem 4.5 Kalman Filter 4.6 Notes and References 4.7 Problems
• 5 Robust Control of Linear Systems. 5.1 Introduction 5.2 Matched Uncertainty 5.3 Unmatched Uncertainty 5.4 Uncertainty in the Input Matrix 5.5 Notes and References 5.6 Problems 6 Robust Control of Nonlinear Systems. 6.1 Introduction 6.2 Matched Uncertainty 6.3 Unmatched Uncertainty 6.4 Uncertainty in the Input Matrix 6.5 Notes and References 6.6 Problems 7 Kharitonov Approach. 7.1 Introduction 7.2 Preliminary Theorems 7.3 Kharitonov Theorem 7.4 Control Design Using Kharitonov Theorem 7.5 Notes and References 7.6 Problems 8 H and H2 Control. 8.1 Introduction 8.2 Function Space 8.3 Computation of H2 and H- Norms 8.4 Robust Control Problem as H2 and H- Control Problem 8.5 H2/H- Control Synthesis 8.6 Notes and References 8.7 Problems 9 Robust Active Damping. 9.1 Introduction 9.2 Problem Formulation 9.3 Robust Active Damping Design 9.4 Active Vehicle Suspension System 9.5 Discussion 9.6 Notes and References 10 Robust Control of Manipulators. 10.1 Robot Dynamics 10.2 Problem Formulation 10.3 Robust Control Design 10.4 Simulations 10.5 Notes and References 11 Aircraft Hovering Control. 11.1 Modelling and Problem Formulation 11.2 Control Design for Jet-borne Hovering 11.3 Simulation 11.4 Notes and References Appendix A: Mathematical Modelling of Physical Systems. References and Bibliography. Index.
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Comprehensive and accessible guide to the three main approaches to robust control design and its applications Optimal control is a mathematical field that is concerned with control policies that can be deduced using optimization algorithms. The optimal control approach to robust control design differs from conventional direct approaches to robust control that are more commonly discussed by firstly translating the robust control problem into its optimal control counterpart, and then solving the optimal control problem. Robust Control Design: An Optimal Control Approach offers a complete presentation of this approach to robust control design, presenting modern control theory in an concise manner. The other two major approaches to robust control design, the H-infinite approach and the Kharitonov approach, are also covered and described in the simplest terms possible, in order to provide a complete overview of the area. It includes up-to-date research, and offers both theoretical and practical applications that include flexible structures, robotics, and automotive and aircraft control. Robust Control Design: An Optimal Control Approach will be of interest to those needing an introductory textbook on robust control theory, design and applications as well as graduate and postgraduate students involved in systems and control research. Practitioners will also find the applications presented useful when solving practical problems in the engineering field.
(source: Nielsen Book Data)