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• Cover; Title Page; Copyright page; Contents; List of Contributors; Biographies; Preface; Introduction; The book in brief; Outlook: challenges and opportunities; References; Part 1
• Elements of light robotics; Chapter 1
• Human gesture recognition for optical manipulation and its future nanobiophotonics applications; 1
• Optical tweezers basics; 1.1
• Optical tweezers; 1.2
• Optical gradient force; 1.3
• Practical setup; 1.4
• Forces; 2
• Measurement of position and force; 2.1
• Drag force method; 2.2
• Equipartition; 2.3
• Langevin method; 2.4
• Light deflection method

• 3
• System design and instrumentation of optical manipulation systems3.1
• System design; 3.2
• System implementation; 4
• Human interfaces; 4.1
• Software control of optical manipulation systems; 5
• Control with peripheral devices; 6
• 3D control; 6.1
• Gathering spatial information; 6.2
• Supplying 3D information; 7
• Haptics; 8
• Internet control-controlling systems remotely; 9
• Future directions; References; Chapter 2
• Laser-based assembler and microfluidic applications; 1
• Introduction in microfluidics; 1.1
• Definition, materials, and manufacturing; 1.2
• Light-based microfluidics

• 1.3
• Assembling of microstructures1.4
• Contents; 2
• Generation of microstructures with two-photon polymerization; 3
• Assembling techniques; 3.1
• Chemical bonding; 3.2
• Thermal and photothermal connection; 3.3
• Joining by polymerization; 3.4
• Interlocking connection; 4
• Applications for assembled microstructures; 4.1
• Optically controlled valves; 4.2
• Magnetic microrotor: Flow field determination and pumping; 4.2.1
• Assembling magnetic rotors with different shapes; 4.2.2
• Measuring the flow field; 4.2.3
• Directed fluid flow; 4.3
• Microrotor assembly using screw connection

• 5
• Conclusion and outlookReferences; Chapter 3
• Optomechanical microtools and shape-induced forces; 1
• Introduction and background; 2
• Theory; 2.1
• Introduction; 2.2
• Shape-induced optical forces; 2.2.1
• The Rayleigh regime; 2.2.2
• Force and torque calculation in the Mie regime; 2.2.3
• Equilibrium trapping of nonspherical particles; 2.2.4
• Nonequilibrium optical forces; 2.2.5
• Nonconservative forces in optical tweezers; 2.3
• Calibration of traps containing nonspherical particles; 2.3.1
• Trap stiffness; 2.3.2
• Trap stability criteria; 2.3.3
• Compound structures: microtools

• 3
• Experimental realizations3.1
• Microtool fabrication; 3.1.1
• In situ directed assembly of components; 3.1.2
• 2D photolithography; 3.1.3
• Direct laser writing; 3.1.4
• Naturally occurring microtools; 3.2
• 3D tracking; 3.3
• 3D optical control; 4
• Applications; 5
• Conclusions and future prospects; References; Chapter 4
• Optically driven rotating micromachines; 1
• Introduction; 2
• Optical angular momentum; 3
• Principles of design; 3.1
• The importance of symmetry; 3.2
• Discrete rotational symmetry with p = 2; 3.3
• Discrete rotational symmetry with p > 2

• 3.4
• No rotational symmetry (p = 1)

• Preface
• Acknowledgements
• 1. Introduction and background
• 2. Mathematical models of fluid flow
• 3. Numerical methods for the solution of partial differential equations
• 4. Fundamental Stability Theory
• 5. Shock capturing schemes I
• 6. Shock capturing schemes II
• 7. Discretization schemes for flows in complex domains
• 8. The calculation of viscous flow
• 9. Overview of time integration methods
• 10. Steady state problems
• 11. Time accurate methods for unsteady flow
• 12. Energy stability for nonlinear problems
• 13. High-order methods for structured meshes
• 14. High-order methods for unstructured meshes
• 15. Aerodynamic shape optimization
• Appendix A
• Appendix B
• Appendix C
• Appendix D
• Appendix E
• Appendix F
• References
• Index.
• (source: Nielsen Book Data)

Computational aerodynamics is a relatively new field in engineering that investigates aircraft flow fields via the simulation of fluid motion and sophisticated numerical algorithms. This book provides an excellent reference to the subject for a wide audience, from graduate students to experienced researchers and professionals in the aerospace engineering field. Opening with the essential elements of computational aerodynamics, the relevant mathematical methods of fluid flow and numerical methods for partial differential equations are presented. Stability theory and shock capturing schemes, and vicious flow and time integration methods are then comprehensively outlined. The final chapters treat more advanced material, including energy stability for nonlinear problems, and higher order methods for unstructured and structured meshes. Presenting over 150 illustrations, including representative calculations on unstructured meshes in color. This book is a rich source of information that will be of interest and importance in this pioneering field.
(source: Nielsen Book Data)

• About the Editors xi List of Contributors xiii Series Preface xv Introduction xvii Part One TWO-WHEELED VEHICLES MODELLING ANDSIMULATION 1 Motorcycle Dynamics 3 Vittore Cossalter, Roberto Lot, and Matteo Massaro 1.1 Kinematics 3 1.2 Tyres 6 1.3 Suspensions 13 1.4 In-Plane Dynamics 18 1.5 Out-of-Plane Dynamics 29 1.6 In-Plane and Out-of-Plane Coupled Dynamics 40 References 41 2 Dynamic Modelling of Riderless Motorcycles for AgileManoeuvres 43 Yizhai Zhang, Jingang Yi, and Dezhen Song 2.1 Introduction 43 2.2 Related Work 44 2.3 Motorcycle Dynamics 45 2.4 Tyre Dynamics Models 51 2.5 Conclusions 55 Nomenclature 55 Appendix A: Calculation of Ms 56 Appendix B: Calculation of Acceleration G57 Acknowledgements 57 References 57 3 Identification and Analysis of Motorcycle Engine-to-SlipDynamics 59 Matteo Corno and Sergio M. Savaresi 3.1 Introduction 59 3.2 Experimental Setup 60 3.3 Identification of Engine-to-Slip Dynamics 61 3.4 Engine-to-Slip Dynamics Analysis 73 3.5 Road Surface Sensitivity 78 3.6 Velocity Sensitivity 79 3.7 Conclusions 80 References 80 4 Virtual Rider Design: Optimal Manoeuvre Definition andTracking 83 Alessandro Saccon, John Hauser, and Alessandro Beghi 4.1 Introduction 83 4.2 Principles of Minimum Time Trajectory Computation 86 4.3 Computing the Optimal Velocity Profile for a Point-MassMotorcycle 90 4.4 The Virtual Rider 102 4.5 Dynamic Inversion: from Flatland to State-Input Trajectories103 4.6 Closed-Loop Control: Executing the Planned Trajectory107 4.7 Conclusions 115 4.8 Acknowledgements 116 References 116 5 The Optimal Manoeuvre 119 Francesco Biral, Enrico Bertolazzi, and Mauro Da Lio 5.1 The Optimal Manoeuvre Concept: Manoeuvrability and Handling121 5.2 Optimal Manoeuvre as a Solution of an Optimal ControlProblem 133 5.3 Applications of Optimal Manoeuvre to Motorcycle Dynamics145 5.4 Conclusions 152 References 152 6 Active Biomechanical Rider Model for Motorcycle Simulation155 Valentin Keppler 6.1 Human Biomechanics and Motor Control 156 6.2 The Model 161 6.3 Simulations and Results 167 6.4 Conclusions 179 References 180 7 A Virtual-Reality Framework for the Hardware-in-the-LoopMotorcycle Simulation 183 Roberto Lot and Vittore Cossalter 7.1 Introduction 183 7.2 Architecture of the Motorcycle Simulator 184 7.3 Tuning and Validation 188 7.4 Application Examples 191 References 194 Part Two TWO-WHEELED VEHICLES CONTROL AND ESTIMATIONPROBLEMS 8 Traction Control Systems Design: A Systematic Approach199 Matteo Corno and Giulio Panzani 8.1 Introduction 199 8.2 Wheel Slip Dynamics 202 8.3 Traction Control System Design 206 8.4 Fine tuning and Experimental Validation 212 8.5 Conclusions 218 References 219 9 Motorcycle Dynamic Modes and Passive Steering Compensation221 Simos A. Evangelou and Maria Tomas-Rodriguez 9.1 Introduction 221 9.2 Motorcycle Main Oscillatory Modes and Dynamic Behaviour222 9.3 Motorcycle Standard Model 224 9.4 Characteristics of the Standard Machine Oscillatory Modesand the Influence of Steering Damping 226 9.5 Compensator Frequency Response Design 228 9.6 Suppression of Burst Oscillations 233 9.7 Conclusions 240 References 240 10 Semi-Active Steering Damper Control for Two-WheeledVehicles 243 Pierpaolo De Filippi, Mara Tanelli, and Matteo Corno 10.1 Introduction and Motivation 243 10.2 Steering Dynamics Analysis 245 10.3 Control Strategies for Semi-Active Steering Dampers 252 10.3.1 Rotational Sky-Hook and Ground-Hook 253 10.4 Validation on Challenging Manoeuvres 257 10.5 Experimental Results 266 10.6 Conclusions 267 References 268 11 Semi-Active Suspension Control in Two-Wheeled Vehicles: aCase Study 271 Diego Delvecchio and Cristiano Spelta 11.1 Introduction and Problem Statement 271 11.2 The Semi-Active Actuator 272 11.3 The Quarter-Car Model: a Description of a Semi-ActiveSuspension System 275 11.4 Evaluation Methods for Semi-Active Suspension Systems277 11.5 Semi-Active Control Strategies 279 11.6 Experimental Set-up 281 11.7 Experimental Evaluation 281 11.8 Conclusions 289 References 289 12 Autonomous Control of Riderless Motorcycles 293 Yizhai Zhang, Jingang Yi, and Dezhen Song 12.1 Introduction 293 12.2 Trajectory Tracking Control Systems Design 294 12.3 Path-Following Control System Design 305 12.4 Conclusion 315 Acknowledgements 317 Appendix A: Calculation of the Lie Derivatives 317 References 318 13 Estimation Problems in Two-Wheeled Vehicles 319 Ivo Boniolo, Giulio Panzani, Diego Delvecchio, Matteo Corno, Mara Tanelli, Cristiano Spelta, and Sergio M. Savaresi 13.1 Introduction 319 13.2 Roll Angle Estimation 320 13.3 Vehicle Speed Estimation 329 13.4 Suspension Stroke Estimation 337 13.5 Conclusions 342 References 342 Index 345.
• (source: Nielsen Book Data)

• Part One Two-wheeled Vehicles Modelling and Simulation 1
• 1 Motorcycle Dynamics 3 1.1 Kinematics 3 1.1.1 Basics of motorcycle kinematics 3 1.1.2 Handlebar steering angle and kinematic steering angle 6 1.2 Tyres 7 1.2.1 Contact forces and torques 7 1.2.2 Steady-state behavior 9 1.2.3 Dynamic behavior 12 1.3 Suspensions 14 1.3.1 Suspension forces 14 1.3.2 Suspensions layout 14 1.3.3 Equivalent stiffness and damping 16 1.4 In-Plane Dynamics 19 1.4.1 Pictch, bounce and hops modes 19 1.4.2 Powertrain 23 1.4.3 Engine-to-slip dynamics 25 1.4.4 Chatter 28 1.5 Out-of-Plane Dynamics 30 1.5.1 Roll equilibrium 30 1.5.2 Motorcycle countersteering 31 1.5.3 Weave, wobble & capsize 34 1.6 In-Plane and Out-of-Plane Coupled Dynamics 41 References 42
• 2 Dynamic Modeling of Riderless Motorcycles for Agile Maneuvers 43 2.1 Introduction 44 2.2 Related Work 45 2.3 Motorcycle Dynamics 46 2.3.1 Geometry and kinematics relationships 46 2.3.2 Motorcycle dynamics 49 2.4 Tire Dynamics Models 51 2.4.1 Tire kinematics relationships 52 2.4.2 Modeling of frictional forces 53 2.4.3 Combined tire and motorcycle dynamics models 54 2.5 Conclusion 55 References 56
• 3 Identification and Analysis of Motorcycle Engine-to-Slip Dynamics 59 3.1 Introduction 59 3.2 Experimental Setup 60 3.3 Identification of Engine-to-Slip Dynamics 61 3.3.1 Relative Slip 73 3.3.2 Throttle Dynamics 73 3.4 Engine-to-Slip Dynamics Analysis 74 3.4.1 Throttle and Spark Advance Control 74 3.4.2 Motorcycle Benchmarking 76 3.5 Road Surface Sensitivity 79 3.6 Velocity Sensitivity 80 3.7 Conclusions 81 References 81
• 4 Virtual rider design: optimal maneuver definition and tracking 83 4.1 Introduction 83 4.2 Principles of minimum time trajectory computation 86 4.2.1 Tire modeling 87 4.2.2 Engine and drivetrain modeling 88 4.2.3 Brake modeling 89 4.2.4 Wheelie and stoppie 90 4.3 Computing the optimal velocity profile for a point-mass motorcycle 90 4.3.1 Computing the optimal velocity profile for a realistic motorcycle 96 4.3.2 Application to a realistic motorcycle model 100 4.4 The virtual rider 101 4.4.1 The sliding plane motorcycle model 101 4.5 Dynamic inversion: from flatland to state-input trajectories 104 4.5.1 Quasi-static motorcycle trajectory 104 4.5.2 Approximate inversion by trajectory optimization 106 4.6 Closed-loop control: executing the planned trajectory 107 4.6.1 Maneuver regulation 107 4.6.2 Shaping the closed loop response 112 4.6.3 Interfacing the maneuver regulation controller with the multi-body motorycle model 113 4.7 Conclusions 115 References 116
• 5 The Optimal Manoeuvre 119 5.1 The Optimal Manoeuvre Concept: Manoeuvrability and Handling 121 5.1.1 Optimal Manoeuvre Mathematically Formalised 123 5.1.2 The Optimal Manoeuvre explained with linearized motorcycle models 124 5.2 Optimal Manoeuvre as a Solution of an Optimal Control Problem 134 5.2.1 The Pontryagin minimum principle 137 5.2.2 General formulation of Unconstrained Optimal control 137 5.2.3 Exact solution of a linearized motorcycle model 139 5.2.4 Numerical solution and approximate Pontryagin 143 5.3 Applications of Optimal Manoeuvre to Motorcycle Dynamics 146 5.3.1 Modelling rider's skills and preferences with the Optimal Manoeuvre 146 5.3.2 Minimum lap time manoeuvres 148 5.4 Conclusions 150 References 152
• 6 Active Biomechanical Rider Model for Motorcycle Simulation 155 6.1 Human Biomechanics and Motor Control 156 6.1.1 Biomechanics 157 6.1.2 Motor Control 159 6.2 The Model 161 6.2.1 The Human Body Model: 161 6.2.2 The Motorcycle Model 166 6.2.3 Steering the Motorcycle 166 6.3 Simulations and Results 168 6.3.1 Rider's Vibration Response 168 6.3.2 Lane Change Maneuver 171 6.3.3 Path Following Performance 171 6.3.4 Influence of Physical Fitness 171 6.3.5 Analyzing Weave Mode 177 6.3.6 Provoking Wobble Mode 177 6.3.7 Road Excitation and Ride Comfort 179 6.4 Conclusions 179 References 180
• 7 A Virtual-Reality Framework for the Hardware-in-the-Loop Motorcycle Simulation 183 7.1 Introduction 183 7.2 Architecture of the Motorcycle Simulator 184 7.2.1 Motorcycle Mock-up and Sensors 184 7.2.2 Realtime Multibody Model 185 7.2.3 Simulator Cues 186 7.2.4 Virtual Scenario 188 7.3 Tuning and validation 188 7.3.1 Objective validation 190 7.3.2 Subjective Validation 191 7.4 Application examples 192 7.4.1 Hardware & Human in the Loop testing of Advanced Rider Assistance Systems 192 7.4.2 Training and road education 194 References 194 Part Two Two-wheeled Vehicles Control and Estimation Problems 197
• 8 Traction Control Systems Design: A Systematic Approach 199 8.1 Introduction 199 8.2 Wheel slip dynamics 202 8.3 Traction Control System Design 206 8.3.1 Supervisor 207 8.3.2 Slip Reference Generation 208 8.3.3 Control Law Design 208 8.3.4 Transition Recognition 211 8.4 Fine tuning and Experimental Validation 212 8.5 Conclusions 219 References 220
• 9 Motorcycle Dynamic Modes and Passive Steering Compensation 223 9.1 Introduction 223 9.2 Motorcycle Main Oscillatory Modes and Dynamic Behaviour 224 9.3 Motorcycle Standard Model 226 9.4 Characteristics of the StandardMachine OscillatoryModes and the Influence of Steering Damping 228 9.5 Compensator Frequency Response Design 231 9.6 Suppression of Burst Oscillations 234 9.6.1 Simulated Bursting 234 9.6.2 Acceleration Analysis 237 9.6.3 Compensator Design and Performance 238 9.7 Conclusions 241 References 243
• 10 Semi-active steering damper control for two-wheeled vehicles 245 10.1 Introduction and motivation 245 10.2 Steering dynamics analysis 247 10.2.1 Model parameters estimation 250 10.2.2 Comparison between vertical and steering dynamics 253 10.3 Control strategies for semi-active steering dampers 254 10.3.1 Rotational sky-hook and ground-hook 255 10.3.2 Closed-loop performance analysis 258 10.4 Validation on challenging maneuvers 259 10.4.1 Performance evaluation method 259 10.4.2 Validation of the control algorithms 260 10.5 Experimental results 269 10.6 Concluding remarks 271 References 271
• 11 Semi-Active suspensions control in two-wheeled vehicles: a case study 275 11.1 Introduction and Problem Statement 275 11.2 The Semi-Active Actuator 276 11.3 The Quarter-Car Model: a Description of a Semi-Active Suspension System 280 11.4 Evaluation Methods for Semi-Active Suspension Systems 281 11.5 Semi-active Control Strategies 283 11.5.1 Skyhook Control 283 11.5.2 Mix-1-Sensor Control 284 11.5.3 The Groundhook Control 284 11.6 Experimental Set-up 285 11.7 Experimental Evaluation 287 11.8 Concluding Remarks 293 References 294
• 12 Autonomous Control of Riderless Motorcycles 297 12.1 Introduction 297 12.2 Trajectory Tracking Control Systems Design 298 12.2.1 External/Internal convertible dynamical systems 298 12.2.2 Trajectory tracking control 301 12.2.3 Simulation Results 305 12.3 Path-Following Control System Design 308 12.3.1 Modeling of tire/road friction forces 309 12.3.2 Path-Following Maneuvering Design 310 12.3.3 Simulation Results 312 12.4 Conclusion 316 References 319
• 13 Estimation problems in two-wheeled vehicles 323 13.1 Introduction 323 13.2 Roll angle estimation 324 13.2.1 Vehicle attitude and reference frames 326 13.2.2 Experimental set-up 329 13.2.3 Accelerometer-based roll angle estimation 330 13.2.4 Use of the frequency separation principle 332 13.3 Vehicle speed estimation 334 13.3.1 Speed estimation during traction maneuvers 335 13.3.2 Experimental setup 335 13.3.3 Kalman filter based frequency split estimation of vehicle speed 336 13.3.4 Experimental Validation 339 13.4 Suspension Stroke Estimation 340 13.4.1 Problem Statement and Estimation Law 342 13.4.2 Experimental Results 344 13.5 Concluding remarks 347 References 347.
• (source: Nielsen Book Data)

Comprehensive presentation of the current methods, tools and approaches available to address two-wheeled vehicle modelling, simulation and control design. Modelling, Simulation and Control of Two-Wheeled Vehicles collates cutting edge research from leading international researchers in the field; offering the reader a long-awaited, comprehensive overview of the prevailing current methods, tools and existing approaches available to address two-wheeled vehicle modelling, simulation and control design. The authors also offer their perspective on the future trends in the field, providing an insight into future challenges and industrial and academic development scenarios. They present experimental data and closed-loop tests on instrumented motorcycles from real-life industrial experiments, providing added value and interest for an industrial audience. Modelling, Simulation and Control of Two-Wheeled Vehicles covers all aspects of motorcycle control engineering, thus representing the first solid reference for this increasingly research-intensive subject. Presents cutting edge research as well as providing an insight into future challenges and industrial and academic development scenarios Includes experimental data and closed-loop tests on instrumented motorcycles from real-life industrial experiments Organised into 3 parts - Motorcycle Modelling and Dynamic Analysis, Motorcycle Simulation, and Motorcycle Control and Estimation Problems. Primary market: Graduate and postgraduate students in control and mechanical engineering. Academic researchers and professors in automotive control and vehicle dynamics. Industrial practitioners involved in motorcycle dynamics and control. Secondary market: R&D engineers in the area of vehicle dynamics and vehicle control engineering.
(source: Nielsen Book Data)
Enhanced e-book includes videos Many books have been written on modelling, simulation andcontrol of four-wheeled vehicles (cars, in particular). However, due to the very specific and different dynamics of two-wheeledvehicles, it is very difficult to reuse previous knowledge gainedon cars for two-wheeled vehicles. Modelling, Simulation and Control of Two-Wheeled Vehiclespresents all of the unique features of two-wheeled vehicles, comprehensively covering the main methods, tools and approaches toaddress the modelling, simulation and control design issues. Withcontributions from leading researchers, this book also offers aperspective on the future trends in the field, outlining thechallenges and the industrial and academic development scenarios.Extensive reference to real-world problems and experimental testsis also included throughout. Key features: * The first book to cover all aspects of two-wheeled vehicledynamics and control * Collates cutting-edge research from leading internationalresearchers in the field * Covers motorcycle control a subject gaining more andmore attention both from an academic and an industrialviewpoint * Covers modelling, simulation and control, areas that areintegrated in two-wheeled vehicles, and therefore must beconsidered together in order to gain an insight into this veryspecific field of research * Presents analysis of experimental data and reports on theresults obtained on instrumented vehicles. Modelling, Simulation and Control of Two-Wheeled Vehiclesis a comprehensive reference for those in academia who areinterested in the state of the art of two-wheeled vehicles, and isalso a useful source of information for industrialpractitioners.
(source: Nielsen Book Data)

• 1. Introduction
• 2. Fundamentals of tire behavior 3 Nonsteady-State Tire Behavior
• 4. Kinematic Steering
• 5. Vehicle Handling Performance
• 6. The Vehicle-Driver Interface
• 7. Exercises Appendices List of symbols References Index.
• (source: Nielsen Book Data)

Essentials of Vehicle Dynamics explains the essential mathematical basis of vehicle dynamics in a concise and clear way, providing engineers and students with the qualitative understanding of vehicle handling performance needed to underpin chassis-related research and development. Without a sound understanding of the mathematical tools and principles underlying the complex models in vehicle dynamics, engineers can end up with errors in their analyses and assumptions, leading to costly mistakes in design and virtual prototyping activities. Author Joop P. Pauwelussen looks to rectify this by drawing on his 15 years' experience of helping students and professionals understand the vehicle as a dynamic system. He begins as simply as possible before moving on to tackle models of increasing complexity, emphasizing the critical role played by tire-road contact and the different analysis tools required to consider non-linear dynamical systems. Providing a basic mathematical background that is ideal for students or those with practical experience who are struggling with the theory, Essentials of Vehicle Dynamics is also intended to help engineers from different disciplines, such as control and electronic engineering, move into the automotive sector or undertake multi-disciplinary vehicle dynamics work.
(source: Nielsen Book Data)

• Chapter 1: Introduction (Mechanisms and Components)
• Chapter 2: Primary Theory of Reciprocal Screws
• Chapter 3: Twists and Wrenches of a Kinematic Chain
• Chapter 4: Free Motion of the End-Effector of a Robotic Mechanism
• Chapter 5: Workspace of the End-Effector of a Robotic Mechanism
• Chapter 6: Singularity Analysis of the End-Effector of a Mechanism within Its Workspace
• Chapter 7: Kinematics with Four Point Cartesian Coordinates for Spatial Parallel Manipulator
• Chapter 8: Kinematics and Statics of Robot Mechanisms
• Chapter 9: The Motion Characteristics of a Robot Mechanism within its Workspace
• Chapter 10: Fundamental Factors to Investigating the Motions and Actuations of a Mechanism
• Chapter 11: The Mechanism Theory and Application of Deployable Structures Based on SLE
• Chapter 12: Structure Synthesis of Spatial Mechanisms
• Chapter 13: Workspace Synthesis of Spatial Mechanisms
• Chapter 14: Kinematic Synthesis of Spatial Mechanisms.
• (source: Nielsen Book Data)

Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms. Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
(source: Nielsen Book Data)

• Cover --
• Title Page
• Copyright Page
• Preface
• About the Auhtors
• Contents
• Chapter 1 Vectors
• 1.1 Definitions
• 1.2 Addition of Two Vectors
• 1.3 Subtraction of a Vector
• 1.4 Zero Vector
• 1.5 Composition of Vectors
• 1.6 Multiplication of Vectors by Scalars
• 1.7 Orthogonal Triad of Unit Vectors
• 1.8 Position Vector
• 1.9 Dot or Scalar Product
• 1.10 The Cross or Vector Product
• 1.11 Vector Calculus
• 1.12 Dimensions and Units
• Chapter 2 Operations with Forces
• 2.1 The Moment of a Force
• 2.2 A Couple
• 2.3 Replacing a Single Force
• 2.4 Coplanar Force Systems
• 2.5 Notes
• Chapter 3 Resultants of Coplanar Force Systems
• 3.1 Coplanar Forces
• 3.2 Concurrent System
• 3.3 Parallel System
• 3.4 Nonconcurrent, Nonparallel System
• 3.5 Resultants of Distributed Force Systems
• Chapter 4 Resultants of Noncoplanar Force Systems
• 4.1 Noncoplanar Force Systems
• 4.2 Concurrent System
• 4.3 Parallel System
• 4.4 Nonconcurrent, Nonparallel System
• Chapter 5 Equilibrium of Coplanar Force Systems
• 5.1 Equilibrium of a Coplanar Force System
• 5.2 Two-Force Members
• 5.3 Concurrent Systems
• 5.4 Parallel Systems
• 5.5 Nonconcurrent, Nonparallel Systems
• 5.6 Remarks?Free-Body Diagrams
• Chapter 6 Equilibrium of Noncoplanar Force Systems
• 6.1 Equilibrium of a Noncoplanar Force System
• 6.2 Concurrent Systems
• 6.3 Parallel Systems
• 6.4 Nonconcurrent, Nonparallel Systems
• Chapter 7 Trusses and Cables
• 7.1 Trusses and Cables
• 7.2 Trusses
• 7.3 Cables
• Chapter 8 Forces in Beams
• 8.1 Beams
• 8.2 Shear and Moment
• 8.3 The Shear Diagram
• 8.4 The Moment Diagram
• Chapter 9 Friction
• 9.1 General Concepts
• 9.2 Laws of Friction
• 9.3 Belt Friction and Brake Bands
• 9.4 Rolling Resistance
• 9.5 Jackscrew
• Chapter 10 Virtual Work
• 10.1 Virtual Displacement and Virtual Work
• 10.2 Equilibrium
• 10.3 Stable Equilibrium
• 10.4 Unstable Equilibrium
• 10.5 Neutral Equilibrium
• 10.6 Summary of Equilibrium
• Chapter 11 First Moments and Centroids
• 11.1 Centroid of an Assemblage
• 11.2 Centroid of a Continuous Quantity
• 11.3 Theorems of Pappus and Guldinus
• 11.4 Center of Pressure
• Chapter 12 Moments of Inertia
• 12.1 Moment of Inertia of an Area
• 12.2 Polar Moment of Inertia of an Area
• 12.3 Product of Inertia of an Area
• 12.4 Parallel Axis Theorem
• 12.5 Composite Area
• 12.6 Rotated Set of Axes
• 12.7 Mohr?s Circle
• 12.8 Moment of Inertia of a Mass
• 12.9 Product of Inertia of a Mass
• 12.10 Parallel Axis Theorem for a Mass
• 12.11 Composite Mass
• Practice Final Exam
• Appendix A SI Units
• Appendix B First Moments and Centroids
• Appendix C Moments of Inertia of Areas and Masses
• Index

Tough Test Questions? Missed Lectures? Not Enough Time? Fortunately, there's Schaum's. More than 40 million students have trusted Schaum's to help them succeed in the classroom and on exams. Schaum's is the key to faster learning and higher grades in every subject. Each Outline presents all the essential course information in an easy-to-follow, topic-by-topic format. You also get hundreds of examples, solved problems, and practice exercises to test your skills. This Schaum's Outline gives you: 628 fully solved problems to reinforce knowledge 1 final practice exam Hundreds of examples with explanations of statics concepts Extra practice on topics such as orthogonal triad of unit vectors, resultant of distributed force system, noncoplanar force systems, slope of the Shear diagram, and slope of the Moment diagram Support for all the major textbooks for statics courses Access to revised Schaums.com website with access to 25 problem-solving videos and more. Schaum's reinforces the main concepts required in your course and offers hundreds of practice questions to help you succeed. Use Schaum's to shorten your study time - and get your best test scores!.
(source: Nielsen Book Data)

• List of Contributors xi
• Series Preface xiii
• Preface xv
• Companion Website xvii
• 1 Advanced UAV Aerodynamics, Flight Stability and Control: An Introduction 1 Pascual Marques
• 2 Aerodynamics of UAV Configurations 31 Pascual Marques
• Part I Novel Concepts in Unmanned Aircraft Aerodynamics 47
• 1.1 Fixed-wing (airplanes) 47
• 3 Aerodynamic Performance Analysis of Three Different Unmanned Re ]entry Vehicles 49 Giuseppe Pezzella and Antonio Viviani
• 4 Nonlinear Reduced ]order Aeroservoelastic Analysis of Very Flexible Aircraft 143 Nikolaos D. Tantaroudas and Andrea Da Ronch
• 5 Unmanned Aircraft Wind Tunnel Testing 181 R. Bardera Mora
• 6 Chord ]dominated Ground ]effect Aerodynamics of Fixed ]wing UAVs 201 Qiulin Qu and Ramesh K. Agarwal
• 1.2 Rotary ]wing (helicopter) 255
• 7 Dynamics Modelling and System Identification of Small Unmanned Helicopters 257 Cunjia Liu and Wen ]Hua Chen
• 8 Aerodynamic Derivative Calculation Using Radial Basis Function Neural Networks 283 Ranjan Ganguli
• 9 Helicopter BERP Tip: Literature Review of Helicopter Blade Shape Optimisation Methods 309 Catherine S. Johnson, Mark Woodgate and George N. Barakos
• 10 Framework for the Optimisation of a Helicopter Rotor Blade with an Approximate BERP Tip: Numerical Methods and Application 345 Catherine S. Johnson, Mark Woodgate and George N. Barakos
• 11 Active Blade Twist in Rotary UAVs using Smart Actuation 399 Pascual Marques
• 1.3 Hybrid Aircraft 421
• 12 Hybrid Aircraft Aerodynamics and Aerodynamic Design Considerations of Hover ]to ]Dash Convertible UAVs 423 Ron Barrett
• Part II Novel Concepts in Unmanned Aircraft Flight Stability and Control 447
• 2.1 Fixed-wing (airplanes) 447
• 13 Closed ]loop Active Flow Control for UAVs 449 Oksana Stalnov
• 14 Autonomous Gust Alleviation in UAVs 465 Ya Wang and Daniel J. Inman
• 15 Virtual Flight Simulation using Computational Fluid Dynamics 495 Ubaidullah Akram, Marco Cristofaro and Andrea Da Ronch
• 16 Flow Structure Modification Using Plasma Actuation for Enhanced UAV Flight Control 547 Antonio J. Conesa Torres
• 17 Constrained Motion Planning and Trajectory Optimization for Unmanned Aerial Vehicles 577 Seid H. Pourtakdoust and Jalal Karimi
• 18 Autonomous Space Navigation Using Nonlinear Filters with MEMS Technology 613 Seid H. Pourtakdoust and Maryam Kiani
• 19 Adaptive Fault ]tolerant Attitude Control for Spacecraft Under Loss of Actuator Effectiveness 645 Qinglei Hu, Bing Xiao, Bo Li and Youmin Zhang
• 2.2 Quad ]rotor Aircraft 667
• 20 Novel Concepts in Multi ]rotor VTOL UAV Dynamics and Stability 669 Emaid A. Abdul Retha
• 21 System Identification and Flight Control of an Unmanned Quadrotor 695 Wei Wei, Mark B. Tischler, Nicholas Schwartz and Kelly Cohen
• Index 729.
• (source: Nielsen Book Data)

Comprehensively covers emerging aerospace technologies Advanced UAV aerodynamics, flight stability and control: Novel concepts, theory and applications presents emerging aerospace technologies in the rapidly growing field of unmanned aircraft engineering. Leading scientists, researchers and inventors describe the findings and innovations accomplished in current research programs and industry applications throughout the world. Topics included cover a wide range of new aerodynamics concepts and their applications for real world fixed-wing (airplanes), rotary wing (helicopter) and quad-rotor aircraft. The book begins with two introductory chapters that address fundamental principles of aerodynamics and flight stability and form a knowledge base for the student of Aerospace Engineering. The book then covers aerodynamics of fixed wing, rotary wing and hybrid unmanned aircraft, before introducing aspects of aircraft flight stability and control. Key features: Sound technical level and inclusion of high-quality experimental and numerical data. Direct application of the aerodynamic technologies and flight stability and control principles described in the book in the development of real-world novel unmanned aircraft concepts. Written by world-class academics, engineers, researchers and inventors from prestigious institutions and industry. The book provides up-to-date information in the field of Aerospace Engineering for university students and lecturers, aerodynamics researchers, aerospace engineers, aircraft designers and manufacturers.
(source: Nielsen Book Data)

• 1. The automobile
• 2. Traction energy and battery performance modelling
• 3. Parasitic energy consumption for heating and cooling
• 4. Battery technologies for electric vehicles
• 5. Next-generation battery-driven light rail vehicles and trains
• 6. Sustainable transport, electric vehicle promotional policies, and factors influencing the purchasing decisions of electric vehicles: A case of Slovenia
• 7. Case study for Chile: The electric vehicle penetration in Chile
• 8. Electric vehicles: Case study for Spain
• 9. The scenario of electric vehicles in Norway
• 10. A case study for Northern Europe
• 11. Electric vehicles: Status and roadmap for India
• 12. Recharging of electric cars by solar photovoltaics
• 13. Drive cycles for battery electric vehicles and their fleet management.
• (source: Nielsen Book Data)

Electric Vehicles: Prospects and Challenges looks at recent design methodologies and technological advancements in electric vehicles and the integration of electric vehicles in the smart grid environment, comprehensively covering the fundamentals, theory and design, recent developments and technical issues involved with electric vehicles. Considering the prospects, challenges and policy status of specific regions and vehicle deployment, the global case study references make this book useful for academics and researchers in all engineering and sustainable transport areas.
(source: Nielsen Book Data)

• 1. Principle.
• 2. Control Law.
• 3. Process Models.
• 4. Implementation.
• 5. Setting of Stable Systems.
• 6. Setting of Integrating Systems.
• 7. Performances and Setting.
• (source: Nielsen Book Data)

Predictive Control is aimed at students wishing to learn predictive control, as well as teachers, engineers and technicians of the profession. The book proposes a simple predictive controller where the control laws are given in clear text that requires no calculations. Adjustment, reduced to one or two parameters, is particularly easy, by means of charts, thus allowing the operator to choose the horizon according to the desired performances. Implementation is discussed in detail in two forms: RS or RST controller in z-1, and pseudo-code realization algorithms for a complete program (model and controller). The book is simple and practical, with the aim of the industrial implementation of many processes: Broida models, Strejc, integrators, dual integrators, with delay, or with inverse response. All settings are abundantly illustrated with response curves.
(source: Nielsen Book Data)

• Chapter 1. Introduction
• Chapter 2. Systems modelling and identification
• Chapter 3. Model-based control design
• Chapter 4. Advanced control systems
• Chapter 5. Multiple model control
• Chapter 6. Uncertain and/or ill-defined models
• Chapter 7. Supervised control
• Chapter 8. Case studies Appendices Bibliography Index.
• (source: Nielsen Book Data)

• Preface ix List of Acronyms and Notations xi
• Chapter 1 Introduction - Models and Dynamic Systems 1 1.1 Overview 1 1.2 Industrial process modeling 3 1.3 Model classes 5
• Chapter 2 Linear Identification of Closed-Loop Systems 21 2.1 Overview of system identification 21 2.2 Framework 22 2.3 Preliminary identification of a CL process 27 2.4 CLOE class of identification methods 39 2.5 Application: identification of active suspension 80
• Chapter 3 Digital Control Design Using Pole Placement 93 3.1 Digital proportional-integral-derivative algorithm control 93 3.2 Digital polynomial RST control 96 3.3 RST control by pole placement 98 3.4 Predictive RST control 104
• Chapter 4 Adaptive Control and Robust Control 113 4.1 Adaptive polynomial control systems 113 4.2 Robust polynomial control systems117
• Chapter 5 Multimodel Control 131 5.1 Construction of multimodels 132 5.2 Stabilization and control of multimodels 144 5.3 Design of multimodel command: fuzzy approach 144 5.4 Trajectory tracking 145
• Chapter 6 Ill-Defined and/or Uncertain Systems 147 6.1 Study of the stability of nonlinear systems from vector norms 147 6.2 Adaptation of control 156 6.3 Overvaluation of the maximum error for various applications 157 6.4 Fuzzy secondary loop control 171
• Chapter 7 Modeling and Control of an Elementary Industrial Process 173 7.1 Modeling and control of fluid transfer processes 173 7.2 Modeling and controlling liquid storage processes 180 7.3 Modeling and controlling the storage process of a pneumatic capacitor 187 7.4 Modeling and controlling heat transfer processes 191 7.5 Modeling and control of component transfer processes 195
• Chapter 8 Industrial Applications - Case Studies 203 8.1 Digital control for an installation of air heating in a steel plant 203 8.2 Control and optimization of an ethylene installation 210 8.3 Digital control of a thermoenergy plant 219 8.4 Extremal control of a photovoltaic installation 226 Appendix A. 243 Appendix B. 249 Appendix C. 257 Appendix D. 261 Bibliography 271 Index 279.
• (source: Nielsen Book Data)

This book presents the most important methods used for the design of digital controls implemented in industrial applications. The best modelling and identification techniques for dynamical systems are presented as well as the algorithms for the implementation of the modern solutions of process control. The proposed described methods are illustrated by various case studies for the main industrial sectors There exist a number of books related each one to a single type of control, yet usually without comparisons for various industrial sectors. Some other books present modelling and identification methods or signal processing. This book presents the methods to solve all the problems linked to the design of a process control without the need to find additional information.
(source: Nielsen Book Data)

• Part 1. Materials for Infrastructures 1. Use of an Ultra-wide Band Radar to Detect Slope Movements Along Transport Infrastructures Jean-Pierre Magnan, Jean-Paul Duranthon, Patrick Joffrin, Francois Depardon, Dominique Allagnat, Francois Lemaitre, Philippe Evenat and Philippe Le Ster 2. Intelligent Compaction Technology for Geomaterials: A Demonstration Project Antonio Gomes Correia and Manuel Parente 3. Geotechnical Challenges Related to Transport Infrastructures on Sensitive Soft Clay Deposits Vikas Thakur and Bjorn Kristoffer Dolva 4. Performance Control of Bituminous Mixtures with a High RAP Content Frederic Delfosse, Ivan Drouadaine, Stephane Faucon Dumont and Sabine Largeaud 5. Integration of Materials Science- based Performance Models into PMS Altred Weninger-Vycudil, Michael Wistuba, Goran Mladenovic, Johan Litzka, Axel Walther and Alexander Alisov 6. Decision Aid Model for Asphalt Mixture Choice Nicolas Bueche and Andre-Gilles Dumont 7. Experimental Study of Binder Filler Interaction Using the Modified Multiple Stress Strain Creep Recovery Test Mahmoud Elnasri, Nick Thom and Gordon Airey 8. Reliability of New Shear Design Equations for FRP-strengthened Concrete Bridge Girders Ayman M. Okeil, Abdeldjelil Belarbi and Daniel A. Kuchma 9. Experimental Investigation and Modeling of the Bond between Aramid Fiber-reinforced Polymer Bars and Concrete Arnaud Rolland, Sylvain Chataigner, Karim Benzarti, Marc Quiertant, Pierre Argoul and Jean-Marc Paul 10. Innovative Use of FRP for Sustainable Precast Concrete Structures Sami Rizkalla
• Part 2. Auscultation and Monitoring 11. 3D Extraction of the Relief of Road Surface through Image Analysis Majdi Khoudeir and Benjamin Bringier 12. Measurement Error Models (MEMs) Regression Method to Harmonize Friction Values from Different Skid Testing Devices Azzurra Evangelisti, Samer W. Katicha, Edgar De Leon Izeppi, Gerardo W. Flintsch, Mauro D apuzzo and Vittorio Nicolosi 13. Accurate and Up-to-Date Evaluation of Extreme Load Effects for Bridge Assessment Xiaoyi Zhou, Franziska Schmidt, Francois Toutlemonde and Bernard Jacob 14. Transportation Infrastructure Monitoring Using Satellite Remote Sensing Edward Hoppe, Brian Bruckno, Elizabeth Campbell, Scott Acton, Andrea Vaccari, Michael Stuecheli, Adrian Bohane, Giacomo Falorni and Jessica Morgan 15. Monitoring of Scour Critical Bridges using Changes in the Natural Frequency of Vibration of Foundation Piles: A Preliminary Investigation Luke J. Prendergast and Kenneth Gavin 16. Evaluation of Multilayer Pavement Viscoelastic Properties from Falling Weight Deflectometer using Neural Networks Jose Manuel Gonzalez, Josep Maria Carbonell and Wouter Van Bijsterveld 17. Accuracy of Ground-penetrating Radar in Pavement Thickness Evaluation: Impact of Interpretation Errors Anne Lalague, Matthew A. Lebens and Inge Hoff 18. Full-scale Test on Prefabricated Slabs for Electrical Supply by Induction of Urban Transport Systems Mai-Lan Nguyen, Pierre Hornych, Jean-Pierre Kerzreho and Sergio Perez
• Part 3. Durability and Maintenance Repair 19. The Poroelastic Road Surface (PERS): Is the 10 dB Reducing Pavement within Reach Luc Goubert, Hans Bendtsen, Anneleen Bergiers, Bjorn Kalman and Darko Kokot 20. Modeling Subjective Condition Data of Asphalt Surfaced Urban Pavements Rayya Hassan, Oliver Lin and Amutha Thananjeyan 21. Modeling of Aging of Low-noise Road Surfaces Gijsjan Van Blokland, Ronald Van Loon and Christiaan Tollenaar 22. Evaluation of Load-carrying Capacity of Asphalt Superstructures from Deflection Measurements J. Stefan Bald and Anh-Duc Nguyen 23. Durable Pothole Repairs Cliff Nicholls, Kathrin Kubanek, Carsten Karcher, Andreas Hartmann, Adewole Adesiyun, Aleksander Ipavec, Jozef Koma ka and Erik Nielsen 24. Application of Multicriteria Assessment for the Selection of At-grade Intersections Jan Hradil, Michal Uhlik and Petr Slaby 25. Low-energy and Environmentally-friendly Solutions for Road Maintenance Bernard Eckmann, Frederic Delfosse, Philippe Poilane and Bruno Taillis 26. 3D Longitudinal and Transverse Cracking and the Influence of Non-Uniform Contact Pressure on the Stress Intensity Factors of these Cracks Dermot B. Casey, James R. Grenfell and Gordon Airey 27. Selecting a Road Network Maintenance Strategy to Achieve the Operator s Objectives Pierre Hankach and Philippe Lepert
• Part 4. Recycling and Sustainability Issues 28. Introduction to European COREPASOLâ ¨Project on Harmonizing Cold Recycling Pavement Techniques Jan Valentin, Jan Suda, Zuzana Formanova, Konrad Mollenhauer, Michael Engels, Fatima Batista and Ciaran Mcnally 29. Technical Performance and Benefits â ¨of Recycling of Reclaimed Asphalt Containing Polymer-modified Binder in Premium Surface Layers Greet Leegwater, Jozef KomacÌ KA, Gang Liu, Erik Nielsen and Eva Remisova 30. Case Study: Increasing the Percentage of Recycled Asphalt Marjan Tusar and Lidija Avsenik 31. Evaluation of Long-term Glass-grid Test Section using a Unique Method Maciej Maliszewski, Przemyslaw Harasim, Dominika Maliszewska and Adam Zofka 32. Effect of Using of Reclaimedâ ¨ Asphalt and/or Lower Temperature Asphalt on the Availability of the Road Network Cliff Nicholls, Matthew Wayman, Konrad Mollenhauer, Ciaran Mcnally, Amir TabakovicÌ , Amanda Gibney, Aikaterini Varveri, Sean Cassidy, Rea Shahmohammadi and Kevin Gilbert 33. Brazilian Road Deterioration Test: Final Report Gustavo Garcia Otto, Leto Momm and Amir Mattar Valente Part 5. Railways and Inland Navigation 34. Application of Different Methods for Rehabilitation of Existing Transition Zones on Old Railway Lines Marko VajdicÌ , Duo Liu, Stanislav Lenart and Irina StipanovicÌ OslakovicÌ 35. CAPACITY4RAIL: Toward aâ ¨ Resilient, Innovative and High-capacityâ ¨ European Railway System for 2030/2050 Laurent Schmitt, Fabien Letourneaux, Isabelle De Keyzer and Paul Crompton 36. Secondary Stiffness of Fastening Clips: Influence on the Behavior of the Railway Track Panel Konstantinos Giannakos 37. A New Asset Management Approach for Inland Waterways, Markus Hoffmann Katrin Haselbauer, Alexander Haberl, Ronald Blab, Markus Simoner, Klaus Dieplinger and Thomas Hartl 38. 3D Numerical Simulation ofâ ¨ Convoy-generated Waves and Sediment Transport in Restricted Waterways Abdellatif Ouahsine, Ji Shengcheng, Hassan Smaoui, Philippe Sergent and Nicolas Huybrechts Part 6. Climate Resilient Roads 39. Potential Impact of Climateâ ¨Change on Porous Asphalt with a Focus on Winter Damage Kyle Kwiatkowski, Irina Stipanovic Oslakovic, Andreas Hartmann and Han Ter Maat 40. Risk Assessment of Highway Flooding in the Netherlands Dirk Pereboom, Kees Van Muiswinkel and Thomas Bles 41. Adaptation of the Road Infrastructure to Climate Change Markus Auerbach and Carina Herrmann 42. The Impacts of Climate Change on Pavement Maintenance in Queensland, Australia Gary Chai, Rudi Van Staden, Hong Guan, Greg Kelly and Sanaul Chowdhury Chapter 43. Design Guideline for a Climateâ ¨ Projection Data Base and Specific Climate Indices for Roads: CliPDaR Christoph Matulla, Joachim Namyslo, Konrad Andre, Barbara Chimani and Tobias Fuchs.
• (source: Nielsen Book Data)

This volume presents the first half of a diverse collection of chapters in the field of materials and infrastructures in transport systems, which illustrate the technological and methodological innovations required to rise to the challenge of building more sustainable transport infrastructures for the future. The authors explore the potential of these sustainable solutions to improve the performance and efficiency of materials and infrastructures, with a reduced environmental impact and lower cost. Theoretical and practical case studies address a variety of topics including circular economy and sustainability, the impacts of climate change, durability, lifecycle, auscultation and the monitoring of infrastructures. This book provides transport researchers and professionals with a better understanding of the current and future trends in these innovative fields, enabling them to put into practice new technologies and methods of design and management, so that new solutions can become current practices to truly improve modern transport systems.
(source: Nielsen Book Data)

• 1. Nanofluid: Definition and Applications
• 2. Nanofluid Natural Convection Heat Transfer
• 3. Nanofluid Forced Convection Heat Transfer
• 4. Nanofluid Flow and Heat Transfer in the Presence of Thermal Radiation
• 5. Nanofluid Flow and Heat Transfer in the Presence of Electric Field
• 6. Nanofluid Flow and Heat Transfer in the Presence of Constant Magnetic Field
• 7. Nanofluid Flow and Heat Transfer in the Presence of Variable Magnetic Field
• 8. Nanofluid Conductive Heat Transfer in Solidification Mechanism
• 9. Nanofluid Flow and Heat Transfer in Porous Media Appendix: Sample Codes for New Semianalytical and Numerical Methods.
• (source: Nielsen Book Data)

Applications of Nanofluid for Heat Transfer Enhancement explores recent progress in computational fluid dynamic and nonlinear science and its applications to nanofluid flow and heat transfer. The opening chapters explain governing equations and then move on to discussions of free and forced convection heat transfers of nanofluids. Next, the effect of nanofluid in the presence of an electric field, magnetic field, and thermal radiation are investigated, with final sections devoted to nanofluid flow in porous media and application of nanofluid for solidification. The models discussed in the book have applications in various fields, including mathematics, physics, information science, biology, medicine, engineering, nanotechnology, and materials science.
(source: Nielsen Book Data)

• List of Figures xi
• List of Tables xvii
• 1 Introduction 1
• 1.1 Relevance to Military 2
• 1.2 Control Strategies 3
• 1.2.1 Prosthetic/Robotic Hands 3
• 1.2.2 Chronological Overview 5
• 1.2.3 Overview of Main Control Techniques Since 2007 15
• 1.2.4 Revolutionary Prosthesis 18
• 1.3 Fusion of Intelligent Control Strategies 19
• 1.3.1 Fusion of Hard and Soft Computing/Control Strategies 19
• 1.4 Overview of Our Research 22
• 1.5 Developments in Neuroprosthetics 23
• 1.6 Chapter Summary 24
• 2 Kinematics and Trajectory Planning 47
• 2.1 Human Hand Anatomy 48
• 2.2 Forward Kinematics 49
• 2.2.1 Homogeneous Transformations 50
• 2.2.2 Serial -Link Revolute-Joint Planar Manipulator 54
• 2.2.3 Two-Link Thumb 58
• 2.2.4 Three-Link Index Finger 60
• 2.2.5 Three-Dimensional Five-Fingered Robotic Hand 62
• 2.3 Inverse Kinematics 66
• 2.3.1 Two-Link Thumb 66
• 2.3.2 Three-Link Fingers 67
• 2.3.3 Fingertip Workspace 68
• 2.3.3.1 Two-Link Thumb and Three-Link Index Finger 69
• 2.3.3.2 Five-Fingered Robotic Hand 70
• 2.4 Differential Kinematics 70
• 2.4.1 Serial -Link Revolute-Joint Planar Manipulator 71
• 2.4.1.1 Some Properties of RotationMatrices 72
• 2.4.1.2 Rigid Body Kinematics 74
• 2.4.2 Two-Link Thumb 78
• 2.4.3 Three-Link Index Finger 79
• 2.5 Trajectory Planning 80
• 2.5.1 Trajectory Planning Using Cubic Polynomial 81
• 2.5.2 Trajectory Planning Using Cubic Bezier Curve 82
• 2.5.3 Simulation Results of Trajectory Paths 84
• 3 Dynamic Models 93
• 3.1 Actuators 93
• 3.1.1 Electric DC Motor 93
• 3.1.2 Mechanical Gear Transmission 94
• 3.2 Dynamics 96
• 3.3 Two-Link Thumb 96
• 3.4 Three-Link Index Finger 99
• 4 Soft Computing/Control Strategies 105
• 4.1 Fuzzy Logic 105
• 4.2 Neural Network 108
• 4.3 Adaptive Neuro-Fuzzy Inference System 108
• 4.4 Tabu Search 113
• 4.4.1 Tabu Concepts 113
• 4.4.2 Enhanced Continuous Tabu Search 114
• 4.4.2.1 Initialization of Parameters 114
• 4.4.2.2 Diversification 114
• 4.4.2.3 Selecting the Most Promising Area 115
• 4.4.2.4 Intensi cation 116
• 4.5 Genetic Algorithm 118
• 4.5.1 Basic GA Procedures 118
• 4.6 Particle Swarm Optimization 121
• 4.6.1 Basic PSO Procedures and Formulations 121
• 4.6.2 Five Different PSO Techniques 125
• 4.6.3 Uniform Distribution and Normal Distribution 128
• 4.7 Adaptive Particle Swarm Optimization 130
• 4.7.1 APSO Procedures and Formulations 130
• 4.7.2 Changed/Unchanged Velocity Direction 134
• 4.8 Condensed Hybrid Optimization 136
• 4.9 Simulation Results and Discussion 137
• 4.9.1 PSO Dynamics Investigation 137
• 4.9.1.1 Benchmark Problems 137
• 4.9.1.2 Selection of Parameters 138
• 4.9.1.3 Simulations 139
• 4.9.2 APSO to Multiple Dimensional Problems 145
• 4.9.3 PSO in Other Biomedical Applications 149
• 4.9.3.1 Leukocyte Adhesion Molecules Modeling 149
• 4.9.4 CHO to Multiple Dimensional Problems 151
• 5 Fusion of Hard and Soft Control Strategies I 161
• 5.1 Feedback Linearization 161
• 5.1.1 State Variable Representation 162
• 5.2 PD/PI/PID Controllers 163
• 5.2.1 PD Controller 164
• 5.2.2 PI Controller 165
• 5.2.3 PID Controller 165
• 5.3 Optimal Controller 167
• 5.3.1 Optimal Regulation 167
• 5.3.2 Linear Quadratic Optimal Control with Tracking System 167
• 5.3.3 A Modified Optimal Control with Tracking System 168
• 5.4 Adaptive Controller 170
• 5.5 Simulation Results and Discussion 172
• 5.5.1 Two-Link Thumb 172
• 5.5.2 Three-Link Index Finger 175
• 5.5.3 Three-Dimensional Five-Fingered Robotic Hand 177
• 5.5.3.1 PID Control 177
• 5.5.3.2 Optimal Control 178
• 5.A Appendix: Regression Matrix 198
• 6 Fusion of Hard and Soft Control Strategies II 203
• 6.1 Fuzzy-Logic-Based PD Fusion Control Strategy 203
• 6.1.1 Simulation Results and Discussion 207
• 6.2 Genetic-Algorithm-Based PID Fusion Control Strategy 212
• 6.2.1 Simulation Results and Discussion 213
• 7 Conclusions and Future Work 223
• 7.1 Conclusions 223
• 7.2 Future Directions 225
• Index 229
• Epilogue 231.
• (source: Nielsen Book Data)

An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
(source: Nielsen Book Data)

• 1. Introduction and Background
• 2. Tyres
• 3. Weight transfer and wheel loads
• 4. Straight line acceleration
• 5. Cornering
• 6. Braking
• 7. Suspension Kinematics
• 8. Dynamic Modelling of Vehicle Suspension
• 9. Lap-time, Manoeuvre and Full-vehicle Simulation.
• (source: Nielsen Book Data)

Performance Vehicle Dynamics: Engineering and Applications offers an accessible treatment of the complex material needed to achieve level seven learning outcomes in the field. Users will gain a complete, structured understanding that enables the preparation of useful models for characterization and optimization of performance using the same Automotive or Motorsport industry techniques and approaches. As the approach to vehicle dynamics has changed over time, largely due to advances in computing power, the subject has, in practice, always been computer intensive, but this use has changed, with modeling of relatively complex vehicle dynamics topics now even possible on a PC.
(source: Nielsen Book Data)