Mechanical engineering and materials Books

Book SynopsisIntroduces the latest developments and technologies in the area of nonlinear aeroelasticity Nonlinear aeroelasticity has become an increasingly popular research area in recent years.Table of ContentsPreface xi Dimitriadis: Nonlinear Aeroelasticity – Series Preface Oct 2016 xiii About the Companion Website xv 1 Introduction 1 1.1 Sources of Nonlinearity 3 1.2 Origins of Nonlinear Aeroelasticity 5 References 6 2 Nonlinear Dynamics 9 2.1 Introduction 9 2.2 Ordinary Differential Equations 9 2.3 Linear Systems 11 2.3.1 Stable Oscillatory Response 13 2.3.2 Neutral Oscillatory Response 15 2.3.3 Unstable Oscillatory Response 17 2.3.4 Stable Non-oscillatory Response 19 2.3.5 Unstable Non-oscillatory Response 21 2.3.6 Fixed Point Summary 23 2.4 Nonlinear Systems 24 2.4.1 Linearisation Around Fixed Points 25 2.4.2 The Pitching Wing Section with Cubic Stiffness 28 2.4.3 The Pitchfork Bifurcation 30 2.5 Stability in the Lyapunov Sense 34 2.6 Asymmetric Systems 37 2.6.1 The Fold Bifurcation 38 2.6.2 The Transcritical Bifurcation 41 2.7 Existence of Periodic Solutions 45 2.7.1 Nonlinear Aeroelastic Galloping 47 2.8 Estimating Periodic Solutions 49 2.8.1 Periodic Solutions of the Nonlinear Galloping Oscillator 50 2.8.2 The Hopf Bifurcation 52 2.9 Stability of Periodic Solutions 53 2.9.1 Stability of Galloping Oscillations 55 2.9.2 Supercritical and Subcritical Hopf Bifurcations 56 2.9.3 The Fold Bifurcation of Cycles 56 2.10 Concluding Remarks 61 References 61 3 Time Integration 63 3.1 Introduction 63 3.2 Euler Method 64 3.2.1 Linear Systems 65 3.2.2 Nonlinear Systems 66 3.3 Central Difference Method 68 3.3.1 Explicit Solution of Nonlinear Systems 69 3.3.2 Implicit Solution of Nonlinear Systems 72 3.4 Runge–Kutta Method 74 3.5 Time-Varying Linear Approximation 80 3.6 Integrating Backwards in Time 86 3.7 Time Integration of Systems with Multiple Degrees of Freedom 88 3.8 Forced Response 92 3.9 Harmonic Balance 99 3.9.1 Newton–Raphson 103 3.9.2 Discrete Fourier Transform Techniques 106 3.10 Concluding Remarks 110 References 111 4 Determining the Vibration Parameters 113 4.1 Introduction 113 4.2 Amplitude and Frequency Determination 113 4.2.1 Event Detection 117 4.3 Equivalent Linearisation 120 4.4 Hilbert Transform 125 4.5 Time-Varying Linear Approximation 129 4.6 Short Time Fourier Transform 131 4.7 Pinpointing Bifurcations 137 4.7.1 Newton–Raphson 141 4.7.2 Successive Bisection 142 4.8 Limit Cycle Study 143 4.9 Poincaré Sections 146 4.10 Stability of Periodic Solutions 149 4.10.1 Floquet Analysis 152 4.11 Concluding Remarks 156 References 156 5 Bifurcations of Fundamental Aeroelastic Systems 159 5.1 Introduction 159 5.2 Two-Dimensional Unsteady Pitch-Plunge-Control Wing 160 5.3 Linear Aeroelastic Analysis 161 5.4 Hardening Stiffness 170 5.4.1 Supercritical Hopf Bifurcation 170 5.4.2 Subcritical Hopf Bifurcation 180 5.4.3 Fold Bifurcation of Cycles 183 5.4.4 Flutter of Nonlinear Systems 189 5.4.5 Period-Doubling Bifurcation 193 5.4.6 Torus Bifurcation 201 5.5 Softening Stiffness 209 5.6 Damping Nonlinearity 214 5.6.1 Subcritical Hopf Bifurcation 216 5.6.2 Static Divergence of Cycles 220 5.6.3 Pitchfork Bifurcation of Cycles 224 5.7 Two-Parameter Bifurcations 233 5.7.1 Generalised Hopf Bifurcation 233 5.7.2 Pitchfork–Hopf Bifurcation 237 5.7.3 Hopf-Hopf Bifurcation 240 5.8 Asymmetric Nonlinear Aeroelastic Systems 242 5.8.1 Fold Bifurcation of Fixed Points and Cycles 243 5.8.2 Transcritical Bifurcation of Fixed Points and Cycles 251 5.8.3 Fold-Hopf Bifurcation 256 5.9 Concluding Remarks 257 References 259 6 Discontinuous Nonlinearities 261 6.1 Introduction 261 6.2 Piecewise Linear Stiffness 262 6.2.1 Underlying and Overlying Linear Systems 264 6.2.2 Fixed Points and Boundary Equilibrium Bifurcations 269 6.2.3 Equivalent Linearisation of Piecewise Linear Stiffness 272 6.2.4 Three-Domain Limit Cycles 278 6.2.5 Two-Domain Limit Cycles 285 6.2.6 Time Domain Solutions 289 6.3 Discontinuity-Induced Bifurcations 297 6.3.1 The Boundary Equilibrium Bifurcation 297 6.3.2 The Grazing Bifurcation 302 6.4 Freeplay and Friction 309 6.5 Concluding Remarks 310 References 310 7 Numerical Continuation 313 7.1 Introduction 313 7.2 Algebraic Problems 314 7.2.1 Prediction Correction 316 7.2.2 Arclength Continuation 321 7.2.3 Pseudo-Arclength Continuation 327 7.3 Direct Location of Folds 328 7.4 Fixed Point Solutions of Dynamic Systems 332 7.4.1 Branch Points 332 7.4.2 Arclength Step Control 337 7.5 Periodic Solutions of Dynamic Systems 342 7.5.1 Starting the Continuation Scheme 348 7.5.2 Folds and Branch Points 351 7.5.3 Branch Switching 355 7.6 Stability of Periodic Solutions Calculated from Numerical Continuation 358 7.7 Shooting 364 7.7.1 Starting the Continuation Scheme 367 7.7.2 Arclength Continuation 368 7.7.3 Stability Analysis 370 7.7.4 Branch Point Location and Branch Switching 372 7.7.5 Grazing 375 7.8 Harmonic Balance 379 7.9 Concluding Remarks 387 References 387 8 Low-Speed Aerodynamic Nonlinearities 389 8.1 Introduction 389 8.2 Vortex-Induced Vibrations 393 8.3 Galloping 402 8.4 Stall Flutter 411 8.4.1 Dynamic Stall 413 8.4.2 Leishman–Beddoes Model 417 8.4.3 ONERA Model 434 8.4.4 Aeroelastic Simulations using Dynamic Stall Models 442 8.5 Concluding Remarks 449 References 449 9 High-Speed Aeroelastic Nonlinearities 453 9.1 Introduction 453 9.2 Piston Theory 453 9.3 Panel Flutter 468 9.3.1 Buckling 470 9.3.2 Limit Cycle Oscillations 484 9.4 Concluding Remarks 501 References 501 10 Finite Wings 503 10.1 Introduction 503 10.2 Cantilever Plate in Supersonic Flow 504 10.3 Three-Dimensional Aerodynamic Modelling by the Vortex Lattice Method 519 10.3.1 Aeroelastic Coupling 528 10.3.2 Transforming to the Time Domain 536 10.3.3 Nonlinear Response 542 10.4 Concluding Remarks 552 References 552 Appendix A: Aeroelastic Models 555 Index 571

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Book SynopsisHow much further should the affluent world push its material consumption? Does relative dematerialization lead to absolute decline in demand for materials? These and many other questions are discussed and answered in Making the Modern World: Materials and Dematerialization.Trade ReviewVaclav Smil receives 2015 OPEC Award for Research "Summing Up: Recommended. Academic, general, and professional readers." (Choice, 1 October 2014) "Vaclav Smil keeps turning out amazing books. Making the Modern World, I just finished, and it's pretty fantastic." (Interview with Bill Gates, 22 January 2014) "This makes the book particularly suitable for students, and not just those in obviously-related disciplines: it's a good example of fact-based reasoning, one material we can always use more of." (Chemistry & Industry, 1 January 2014)Table of ContentsPreface: Why and How ix 1. What Gets Included 1 2. How We Got Here 7 2.1 Materials Used by Organisms 8 2.2 Materials in Prehistory 11 2.3 Ancient and Medieval Materials 15 2.4 Materials in the Early Modern Era 22 2.5 Creating Modern Material Civilization 27 2.6 Materials in the Twentieth Century 34 3. What Matters Most 45 3.1 Biomaterials 46 3.2 Construction Materials 52 3.3 Metals 57 3.4 Plastics 62 3.5 Industrial Gases 65 3.6 Fertilizers 70 3.7 Materials in Electronics 72 4. How the Materials Flow 77 4.1 Material Flow Accounts 79 4.2 America’s Material Flows 83 4.3 European Balances 87 4.4 Materials in China’s Modernization 90 4.5 Energy Cost of Materials 94 4.6 Life-Cycle Assessments 103 4.7 Recycling 111 5. Are We Dematerializing? 119 5.1 Apparent Dematerializations 120 5.2 Relative Dematerializations: Specific Weight Reductions 122 5.3 Consequences of Dematerialization 129 5.4 Relative Dematerialization in Modern Economies 137 5.5 Declining Energy Intensities 143 5.6 Decarbonization and Desulfurization 150 6. Material Outlook 157 6.1 Natural Resources 158 6.2 Wasting Less 165 6.3 New Materials and Dematerialization 168 6.4 Chances of Fundamental Departures 173 Appendix A Units and Unit Multiples 181 Appendix B US Material Production, GDP and Population, 1900–2005 183 Appendix C Global Population, Economic Product, and Production of Food, Major Materials, and Fuels 1900–2010 185 Appendix D Global Energy Cost of Major Materials in 2010 187 Appendix E 189 References 191 Index 223

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Book SynopsisStep-by-step instructions enable chemical engineers to master key software programs and solve complex problems Today, both students and professionals in chemical engineering must solve increasingly complex problems dealing with refineries, fuel cells, microreactors, and pharmaceutical plants, to name a few. With this book as their guide, readers learn to solve these problems using their computers and Excel, MATLAB, Aspen Plus, and COMSOL Multiphysics. Moreover, they learn how to check their solutions and validate their results to make sure they have solved the problems correctly. Now in its Second Edition, Introduction to Chemical Engineering Computing is based on the author's firsthand teaching experience. As a result, the emphasis is on problem solving. Simple introductions help readers become conversant with each program and then tackle a broad range of problems in chemical engineering, including: Equations of state Chemical reactTable of ContentsPreface xv 1 Introduction 1 Organization, 2 Algebraic Equations, 3 Process Simulation, 3 Differential Equations, 3 Appendices, 4 2 Equations of State 7 Equations of State—Mathematical Formulation, 8 Solving Equations of State Using Excel (Single Equation in One Unknown), 12 Solution Using “Goal Seek”, 12 Solution Using “Solver”, 13 Example of a Chemical Engineering Problem Solved Using “Goal Seek”, 13 Solving Equations of State Using MATLAB (Single Equation in One Unknown), 15 Example of a Chemical Engineering Problem Solved Using MATLAB, 16 Another Example of a Chemical Engineering Problem Solved Using MATLAB, 18 Equations of State With Aspen Plus, 20 Example Using Aspen Plus, 20 Specific Volume of a Mixture, 21 Chapter Summary, 26 Problems, 26 Numerical Problems, 28 3 Vapor–Liquid Equilibria 29 Flash and Phase Separation, 30 Isothermal Flash—Development of Equations, 30 Example Using Excel, 32 Thermodynamic Parameters, 33 Example Using MATLAB, 34 Example Using Aspen Plus, 35 Nonideal Liquids—Test of Thermodynamic Model, 39 NIST Thermo Data Engine in Aspen Plus, 41 Chapter Summary, 44 Problems, 44 Numerical Problems, 48 4 Chemical Reaction Equilibria 49 Chemical Equilibrium Expression, 50 Example of Hydrogen for Fuel Cells, 51 Solution Using Excel, 52 Solution Using MATLAB, 53 Chemical Reaction Equilibria with Two or More Equations, 56 Multiple Equations, Few Unknowns Using MATLAB, 56 Chemical Reaction Equilibria Using Aspen Plus, 59 Chapter Summary, 59 Problems, 60 Numerical Problems, 63 5 Mass Balances with Recycle Streams 65 Mathematical Formulation, 66 Example Without Recycle, 68 Example with Recycle; Comparison of Sequential and Simultaneous Solution Methods, 70 Example of Process Simulation Using Excel for Simple Mass Balances, 72 Example of Process Simulation Using Aspen Plus for Simple Mass Balances, 73 Example of Process Simulation with Excel Including Chemical Reaction Equilibria, 74 Did the Iterations Converge?, 75 Extensions, 76 Chapter Summary, 76 Class Exercises, 76 Class Discussion (After Viewing Problem 5.10 on the Book Website), 76 Problems, 77 6 Thermodynamics and Simulation of Mass Transfer Equipment 85 Thermodynamics, 86 Guidelines for Choosing, 89 Properties Environment | Home | Methods Selection Assistant, 89 Thermodynamic Models, 90 Example: Multicomponent Distillation with Shortcut Methods, 91 Multicomponent Distillation with Rigorous Plate-to-Plate Methods, 95 Example: Packed Bed Absorption, 97 Example: Gas Plant Product Separation, 100 Example: Water Gas Shift Equilibrium Reactor with Sensitivity Block and Design Specification Block, 102 Chapter Summary, 106 Class Exercise, 106 Problems (using Aspen Plus), 106 7 Process Simulation 109 Model Library, 110 Example: Ammonia Process, 110 Development of the Model, 112 Solution of the Model, 115 Examination of Results, 115 Testing the Thermodynamic Model, 118 Utility Costs, 118 Greenhouse Gas Emissions, 120 Convergence Hints, 120 Optimization, 122 Integrated Gasification Combined Cycle, 125 Cellulose to Ethanol, 126 Chapter Summary, 128 Class Exercise, 128 Problems, 128 Problems Involving Corn Stover and Ethanol, 131 8 Chemical Reactors 137 Mathematical Formulation of Reactor Problems, 138 Example: Plug Flow Reactor and Batch Reactor, 138 Example: Continuous Stirred Tank Reactor, 140 Using MATLAB to Solve Ordinary Differential Equations, 140 Simple Example, 140 Use of the “Global” Command, 142 Passing Parameters, 143 Example: Isothermal Plug Flow Reactor, 144 Example: Nonisothermal Plug Flow Reactor, 146 Using Comsol Multiphysics to Solve Ordinary Differential Equations, 148 Simple Example, 148 Example: Isothermal Plug Flow Reactor, 150 Example: Nonisothermal Plug Flow Reactor, 151 Reactor Problems with Mole Changes and Variable Density, 153 Chemical Reactors with Mass Transfer Limitations, 155 Plug Flow Chemical Reactors in Aspen Plus, 158 Continuous Stirred Tank Reactors, 161 Solution Using Excel, 162 Solution Using MATLAB, 163 CSTR with Multiple Solutions, 163 Transient Continuous Stirred Tank Reactors, 164 Chapter Summary, 168 Problems, 169 Numerical Problems (See Appendix E), 174 9 Transport Processes in One Dimension 175 Applications in Chemical Engineering—Mathematical Formulations, 176 Heat Transfer, 176 Diffusion and Reaction, 177 Fluid Flow, 178 Unsteady Heat Transfer, 180 Introduction to Comsol Multiphysics, 180 Example: Heat Transfer in a Slab, 181 Solution Using Comsol Multiphysics, 181 Solution Using MATLAB, 184 Example: Reaction and Diffusion, 185 Parametric Solution, 186 Example: Flow of a Newtonian Fluid in a Pipe, 188 Example: Flow of a Non-Newtonian Fluid in a Pipe, 190 Example: Transient Heat Transfer, 193 Solution Using Comsol Multiphysics, 193 Solution Using MATLAB, 195 Example: Linear Adsorption, 196 Example: Chromatography, 199 Pressure Swing Adsorption, 203 Chapter Summary, 204 Problems, 204 Chemical Reaction, 204 Chemical Reaction and Heat Transfer, 205 Mass Transfer, 207 Heat Transfer, 207 Electrical Fields, 207 Fluid Flow, 208 Numerical Problems (See Appendix E), 213 10 Fluid Flow in Two and Three Dimensions 215 Mathematical Foundation of Fluid Flow, 217 Navier–Stokes Equation, 217 Non-Newtonian Fluid, 218 Nondimensionalization, 219 Option One: Slow Flows, 219 Option Two: High-Speed Flows, 220 Example: Entry Flow in a Pipe, 221 Example: Entry Flow of a Non-Newtonian Fluid, 226 Example: Flow in Microfluidic Devices, 227 Example: Turbulent Flow in a Pipe, 230 Example: Start-Up Flow in a Pipe, 233 Example: Flow Through an Orifice, 235 Example: Flow in a Serpentine Mixer, 239 Microfluidics, 240 Mechanical Energy Balance for Laminar Flow, 243 Pressure Drop for Contractions and Expansions, 245 Generation of Two-Dimensional Inlet Velocity Profiles for Three-Dimensional Simulations, 246 Chapter Summary, 249 Problems, 249 11 Heat and Mass Transfer in Two and Three Dimensions 259 Convective Diffusion Equation, 260 Nondimensional Equations, 261 Example: Heat Transfer in Two Dimensions, 262 Example: Heat Conduction with a Hole, 264 Example: Convective Diffusion in Microfluidic Devices, 265 Example: Concentration-Dependent Viscosity, 268 Example: Viscous Dissipation, 269 Example: Chemical Reaction, 270 Example: Wall Reactions, 272 Example: Mixing in a Serpentine Mixer, 272 Microfluidics, 274 Characterization of Mixing, 276 Average Concentration along an Optical Path, 276 Peclet Number, 276 Example: Convection and Diffusion in a Three-Dimensional T-Sensor, 278 Chapter Summary, 280 Problems, 280 Steady, Two-Dimensional Problems, 280 Heat Transfer with Flow, 283 Reaction with Known Flow, 284 Reaction with No Flow, 285 Solve for Concentration and Flow, 286 Numerical Problems, 289 Appendix A HintsWhen Using Excel® 291 Introduction, 291 Calculation, 292 Plotting, 293 Import and Export, 294 Presentation, 294 Appendix B HintsWhen Using MATLAB® 297 General Features, 298 Screen Format, 298 Stop/Closing the Program, 299 m-files and Scripts, 299 Workspaces and Transfer of Information, 300 “Global” Command, 300 Display Tools, 301 Classes of Data, 301 Programming Options: Input/Output, Loops, Conditional Statements, Timing, and Matrices, 302 Input/Output, 302 Loops, 303 Conditional Statements, 303 Timing Information, 304 Matrices, 304 Matrix Multiplication, 304 Element by Element Calculations, 305 More Information, 306 Finding and Fixing Errors, 306 Eigenvalues of a Matrix, 307 Evaluate an Integral, 307 Spline Interpolation, 307 Interpolate Data, Evaluate the Polynomial, and Plot the Result, 308 Solve Algebraic Equations, 309 Using “fsolve”, 309 Solve Algebraic Equations Using “fzero” or “fminsearch” (Both in Standard MATLAB), 309 Integrate Ordinary Differential Equations that are Initial Value Problems, 309 Differential-Algebraic Equations, 311 Checklist for Using “ode45” and Other Integration Packages, 311 Plotting, 312 Simple Plots, 312 Add Data to an Existing Plot, 312 Dress Up Your Plot, 312 Multiple Plots, 313 3D Plots, 313 More Complicated Plots, 314 Use Greek Letters and Symbols in the Text, 314 Bold, Italics, and Subscripts, 314 Other Applications, 315 Plotting Results from Integration of Partial Differential Equations Using Method of Lines, 315 Import/Export Data, 315 Import/Export with Comsol Multiphysics, 318 Programming Graphical User Interfaces, 318 MATLAB Help, 318 Applications of MATLAB, 319 Appendix C Hints When Using Aspen Plus® 321 Introduction, 321 Flowsheet, 323 Model Library, 323 Place Units on Flowsheet, 324 Connect the Units with Streams, 324 Data, 324 Setup, 324 Data Entry, 325 Specify Components, 325 Specify Properties, 325 Specify Input Streams, 326 Specify Block Parameters, 326 Run the Problem, 326 Scrutinize the Stream Table, 327 Checking Your Results, 328 Change Conditions, 328 Report, 329 Transfer the Flowsheet and Mass and Energy Balance to a Word Processing Program, 329 Prepare Your Report, 329 Save Your Results, 330 Getting Help, 330 Advanced Features, 330 Flowsheet Sections, 330 Mass Balance Only Simulations and Inclusion of Solids, 331 Transfer Between Excel and Aspen, 331 Block Summary, 331 Calculator Blocks, 332 Aspen Examples, 334 Molecule Draw, 334 Applications of Aspen Plus, 334 Appendix D HintsWhen Using Comsol Multiphysics® 335 Basic Comsol Multiphysics Techniques, 336 Opening Screens, 336 Equations, 337 Specify the Problem and Parameters, 337 Physics, 339 Definitions, 339 Geometry, 339 Materials, 340 Discretization, 341 Boundary Conditions, 341 Mesh, 342 Solve and Examine the Solution, 342 Solve, 342 Plot, 342 Publication Quality Figures, 343 Results, 343 Probes, 344 Data Sets, 344 Advanced Features, 345 Mesh, 345 Transfer to Excel, 346 LiveLink with MATLAB, 347 Variables, 348 Animation, 349 Studies, 349 Help with Convergence, 349 Help with Time-Dependent Problems, 350 Jump Discontinuity, 350 Help, 351 Applications of Comsol Multiphysics, 351 Appendix E Mathematical Methods 353 Algebraic Equations, 354 Successive Substitution, 354 Newton–Raphson, 354 Ordinary Differential Equations as Initial Value Problems, 356 Euler’s Method, 356 Runge–Kutta Methods, 357 MATLAB and ode45 and ode15s, 357 Ordinary Differential Equations as Boundary Value Problems, 358 Finite Difference Method, 359 Finite Difference Method in Excel, 360 Finite Element Method in One Space Dimension, 361 Initial Value Methods, 363 Partial Differential Equations in time and One Space Dimension, 365 Problems with Strong Convection, 366 Partial Differential Equations in Two Space Dimensions, 367 Finite-Difference Method for Elliptic Equations in Excel, 367 Finite Element Method for Two-Dimensional Problems, 368 Summary, 370 Problems, 370 References 373 Index 379

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Book SynopsisThe definitive work on grease lubrication in industrial and vehicle engineering, this book provides an overview of the literature, presents state of the art models, and examines the physical and chemical aspects of grease lubrication, particularly lubrication of rolling bearings.Table of ContentsPreface xvii List of Abbreviations xix 1 Introduction 1 1.1 Why Lubricate Rolling Bearings? 1 1.2 History of Grease Lubrication 2 1.3 Grease Versus Oil Lubrication 3 2 Lubrication Mechanisms 5 2.1 Introduction 5 2.2 Definition of Grease 6 2.3 Operating Conditions 6 2.4 The Phases in Grease Lubrication 7 2.5 Film Thickness During the Bleeding Phase 8 2.6 Feed and Loss Mechanisms During the Bleeding Phase 10 2.7 Film Thickness and Starvation (Side Flow) 11 2.8 Track Replenishment 12 2.9 Grease Flow 13 2.10 Wall-Slip 15 2.11 Oxidation 16 2.12 EP Additives 16 2.13 Dynamic Behaviour 17 2.14 Grease Life 17 3 Grease Composition and Properties 23 3.1 Base Oil 24 3.2 Base Oil Viscosity and Density 41 3.3 Thickener 49 3.4 Additives 61 3.5 Solid Fillers/Dry Lubricants 66 3.6 Compatibility 67 3.7 Polymer Grease 67 4 Grease Life in Rolling Bearings 71 4.1 Introduction 71 4.2 Relubrication Intervals and Grease Life 71 4.3 The Traffic Light Concept 72 4.4 Grease Life as a Function of Temperature in the Green Zone 75 4.5 SKF Relubrication and Grease Life 76 4.6 Comparison Grease Life/Relubrication Models 78 4.7 Very Low and High Speeds 82 4.8 Large Rolling Bearings 85 4.9 Effect of Load 86 4.10 Effect of Outer-Ring Rotation 90 4.11 Cage Material 90 4.12 Bearing Type 91 4.13 Temperature and Bearing Material 92 4.14 Grease Fill 94 4.15 Vertical Shaft 95 4.16 Vibrations and Shock Loads 96 4.17 Grease Shelf Life/Storage Life 97 5 Lubricating Grease Rheology 99 5.1 Visco-Elastic Behaviour 99 5.2 Viscometers 102 5.3 Oscillatory Shear 108 5.4 Shear Thinning and Yield 112 5.5 Yield Stress 118 5.6 Wall-Slip Effects 122 5.7 Translation Between Oscillatory Shear and Linear Shear Measurements 125 5.8 Normal stresses 126 5.9 Time Dependent Viscosity and Thixotropy 128 5.10 Tackiness 133 6 Grease and Base Oil Flow 137 6.1 Grease Flow in Pipes 137 6.2 Grease Flow in Rolling Bearings 149 7 Grease Bleeding 157 7.1 Introduction 157 7.2 Ball Versus Roller Bearings 158 7.3 Grease Bleeding Measurement Techniques 158 7.4 Bleeding from the Covers and Under the Cage 159 7.5 A Grease Bleeding Model for Pressurized Grease by Centrifugal Forces 161 8 Grease Aging 171 8.1 Mechanical Aging 172 8.2 Grease Oxidation 179 8.3 The Chemistry of Base Oil Film Oxidation 181 8.4 Oxidation of the Thickener 183 8.5 A Simple Model for Base Oil Degradation 184 8.6 Polymerization 186 8.7 Evaporation 186 8.8 Simple Models for the Life of Base Oil 186 9 Film Thickness Theory for Single Contacts 191 9.1 Elasto-Hydrodynamic Lubrication 192 9.2 Contact Geometry and Deformation 198 9.3 EHL Film Thickness, Oil 202 9.4 EHD Film Thickness, Grease 205 9.5 Starvation 212 9.6 Spin 225 10 Film Thickness in Grease Lubricated Rolling Bearings 227 10.1 Thin Layer Flow on Bearing Surfaces 228 10.2 Starved EHL for Rolling Bearings 234 10.3 Cage Clearance and Film Thickness 239 10.4 Full Bearing Film Thickness 241 11 Grease dynamics 245 11.1 Introduction 245 11.2 Grease Reservoir Formation 245 11.3 Temperature Behaviour 246 11.4 Temperature and Film Breakdown 249 11.5 Chaotic Behaviour 249 11.6 Quantitative Analysis of Grease Tests 253 11.7 Discussion 254 12 Reliability 257 12.1 Failure Distribution 258 12.2 Mean Life and Time Between Failures 261 12.3 Percentile Life 264 12.4 Point and Interval Estimates 265 12.5 Sudden Death Testing 275 12.6 System Life Prediction 281 13 Grease Lubrication and Bearing Life 283 13.1 Bearing Failure Modes 283 13.2 Rated Fatigue Life of Grease Lubricated Rolling Bearings 285 13.3 Background of the Fatigue Life Ratings of Grease Lubricated Bearings 289 13.4 Lubricant Chemistry and Bearing Life 296 13.5 Water in Grease 304 13.6 Surface Finish Aspects Related to Grease Lubrication 306 14 Grease Lubrication Mechanisms in Bearing Seals 309 14.1 Introduction 309 14.2 Lubrication Mechanisms for Radial Lip Seals 309 14.3 Sealing Action of Grease 312 14.4 Softening and Leakage 319 14.5 Compatibility 320 14.6 A Film Thickness Model for Bearing Seals 320 14.7 Importance of Sealing Grease Inside the Bearing 324 15 Condition Monitoring and Maintenance 327 15.1 Condition Monitoring 327 15.2 Acoustic Emission 328 15.3 Lubcheck 330 15.4 Consistency Measurement 331 15.5 Oil Bleeding Properties 332 15.6 Oil Content 332 15.7 Particle Contamination 332 15.8 Spectroscopy 333 15.9 Linear Voltammetry 334 15.10 Total Acid Number 335 15.11 DCS – Differential Scanning Calorimetry 335 15.12 Oxidation Bomb 336 15.13 Water 336 16 Grease Qualification Testing 339 16.1 Introduction 339 16.2 Standard Test Methods 339 16.3 Some Qualification Criteria for Grease Selection 374 16.4 Pumpability 375 17 Lubrication Systems 377 17.1 Single Point Lubrication Methods 379 17.2 Centralized Grease Lubrication Systems 380 17.3 Pumps 382 17.4 Valves 384 17.5 Distributors 386 17.6 Single-Line Centralized Lubrication Systems 386 17.7 Dual-Line Lubrication Systems 393 17.8 Progressive Lubrication Systems 394 17.9 Multi-Line Lubrication System 397 17.10 Cyclic Grease Flow 397 17.11 Requirements of the Grease 398 17.12 Grease Pumpability Tests 402 A Characteristics of Paraffinic Hydrocarbons 413 References 415 Index

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Book SynopsisThe first edition of this book is considered the bible of this topic... Suffice it to say that there is no other published treatise that approaches the depth of treatment offered by this book. The coverage is the state of the published art, while the added contents cover the new known developments in the field. Haisam Osman; Technology Development Manager, United Launch Alliance This long-awaited second edition of a respected text from world leaders in the field of acoustic materials covers the state of the art with a depth of treatment unrivalled elsewhere. Allard and Atalla employ a logical and progressive approach that leads to a thorough understanding of porous material modelling. The first edition of Propagation of Sound in Porous Media introduced the basic theory of acoustics and the related techniques. Research and development in sound absorption has however progressed significantly since the first edition, and the models and methods described, at the tiTrade Review"All in all this is an impressive book which will serve as an excellent reference for those working in the acoustics of porous media, and as a perfect introduction to the subject for novices." (Journal of Sound & Vibration, 2010)Table of ContentsPreface to the second edition. 1 Plane waves in isotropic fluids and solids. 1.1 Introduction. 1.2 Notation – vector operators. 1.3 Strain in a deformable medium. 1.4 Stress in a deformable medium. 1.5 Stress–strain relations for an isotropic elastic medium. 1.6 Equations of motion. 1.7 Wave equation in a fluid. 1.8 Wave equations in an elastic solid. References. 2 Acoustic impedance at normal incidence of fluids. Substitution of a fluid layer for a porous layer. 2.1 Introduction. 2.2 Plane waves in unbounded fluids. 2.3 Main properties of impedance at normal incidence. 2.4 Reflection coefficient and absorption coefficient at normal incidence. 2.5 Fluids equivalent to porous materials: the laws of Delany and Bazley. 2.6 Examples. 2.7 The complex exponential representation. References. 3 Acoustic impedance at oblique incidence in fluids. Substitution of a fluid layer for a porous layer. 3.1 Introduction. 3.2 Inhomogeneous plane waves in isotropic fluids. 3.3 Reflection and refraction at oblique incidence. 3.4 Impedance at oblique incidence in isotropic fluids. 3.5 Reflection coefficient and absorption coefficient at oblique incidence. 3.6 Examples. 3.7 Plane waves in fluids equivalent to transversely isotropic porous media. 3.8 Impedance at oblique incidence at the surface of a fluid equivalent to an anisotropic porous material. 3.9 Example. References. 4 Sound propagation in cylindrical tubes and porous materials having cylindrical pores. 4.1 Introduction. 4.2 Viscosity effects. 4.3 Thermal effects. 4.4 Effective density and bulk modulus for cylindrical tubes having triangular, rectangular and hexagonal cross-sections. 4.5 High- and low-frequency approximation. 4.6 Evaluation of the effective density and the bulk modulus of the air in layers of porous materials with identical pores perpendicular to the surface. 4.7 The biot model for rigid framed materials. 4.8 Impedance of a layer with identical pores perpendicular to the surface. 4.9 Tortuosity and flow resistivity in a simple anisotropic material. 4.10 Impedance at normal incidence and sound propagation in oblique pores. Appendix 4.A Important expressions. Description on the microscopic scale. Effective density and bulk modulus. References. 5 Sound propagation in porous materials having a rigid frame. 5.1 Introduction. 5.2 Viscous and thermal dynamic and static permeability. 5.3 Classical tortuosity, characteristic dimensions, quasi-static tortuosity. 5.4 Models for the effective density and the bulk modulus of the saturating fluid. 5.5 Simpler models. 5.6 Prediction of the effective density and the bulk modulus of open cell foams and fibrous materials with the different models. 5.7 Fluid layer equivalent to a porous layer. 5.8 Summary of the semi-phenomenological models. 5.9 Homogenization. 5.10 Double porosity media. Appendix 5.A: Simplified calculation of the tortuosity for a porous material having pores made up of an alternating sequence of cylinders. Appendix 5.B: Calculation of the characteristic length Λ'. Appendix 5.C: Calculation of the characteristic length Λ for a cylinder perpendicular to the direction of propagation. References. 6 Biot theory of sound propagation in porous materials having an elastic frame. 6.1 Introduction. 6.2 Stress and strain in porous materials. 6.3 Inertial forces in the biot theory. 6.4 Wave equations. 6.5 The two compressional waves and the shear wave. 6.6 Prediction of surface impedance at normal incidence for a layer of porous material backed by an impervious rigid wall. Appendix 6.A: Other representations of the Biot theory. References. 7 Point source above rigid framed porous layers. 7.1 Introduction. 7.2 Sommerfeld representation of the monopole field over a plane reflecting surface. 7.3 The complex sinθ plane. 7.4 The method of steepest descent (passage path method). 7.5 Poles of the reflection coefficient. 7.6 The pole subtraction method. 7.7 Pole localization. 7.8 The modified version of the Chien and Soroka model. Appendix 7.A Evaluation of N. Appendix 7.B Evaluation of pr by the pole subtraction method. Appendix 7.C From the pole subtraction to the passage path: Locally reacting surface. References. 8 Porous frame excitation by point sources in air and by stress circular and line sources – modes of air saturated porous frames. 8.1 Introduction. 8.2 Prediction of the frame displacement. 8.3 Semi-infinite layer – Rayleigh wave. 8.4 Layer of finite thickness – modified Rayleigh wave. 8.5 Layer of finite thickness – modes and resonances. Appendix 8.A Coefficients rij and Mi,j. Appendix 8.B Double Fourier transform and Hankel transform. Appendix 8.B Appendix .C Rayleigh pole contribution. References. 9 Porous materials with perforated facings. 9.1 Introduction. 9.2 Inertial effect and flow resistance. 9.3 Impedance at normal incidence of a layered porous material covered by a perforated facing – Helmoltz resonator. 9.4 Impedance at oblique incidence of a layered porous material covered by a facing having cirular perforations. References. 10 Transversally isotropic poroelastic media. 10.1 Introduction. 10.2 Frame in vacuum. 10.3 Transversally isotropic poroelastic layer. 10.4 Waves with a given slowness component in the symmetry plane. 10.5 Sound source in air above a layer of finite thickness. 10.6 Mechanical excitation at the surface of the porous layer. 10.7 Symmetry axis different from the normal to the surface. 10.8 Rayleigh poles and Rayleigh waves. 10.9 Transfer matrix representation of transversally isotropic poroelastic media. Appendix 10.A: Coefficients Ti in Equation (10.46). Appendix 10.B: Coefficients Ai in Equation (10.97). References. 11 Modelling multilayered systems with porous materials using the transfer matrix method. 11.1 Introduction. 11.2 Transfer matrix method. 11.3 Matrix representation of classical media. 11.4 Coupling transfer matrices. 11.5 Assembling the global transfer matrix. 11.6 Calculation of the acoustic indicators. 11.7 Applications. Appendix 11.A The elements Tij of the Transfer Matrix T ]. References. 12 Extensions to the transfer matrix method. 12.1 Introduction. 12.2 Finite size correction for the transmission problem. 12.3 Finite size correction for the absorption problem. 12.4 Point load excitation. 12.5 Point source excitation. 12.6 Other applications. Appendix 12.A: An algorithm to evaluate the geometrical radiation impedance. References. 13 Finite element modelling of poroelastic materials. 13.1 Introduction. 13.2 Displacement based formulations. 13.3 The mixed displacement–pressure formulation. 13.4 Coupling conditions. 13.5 Other formulations in terms of mixed variables. 13.6 Numerical implementation. 13.7 Dissipated power within a porous medium. 13.8 Radiation conditions. 13.9 Examples. References. Index.

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Book SynopsisA modern and broad exposition emphasizing heat transfer by convection. This edition contains valuable new information primarily pertaining to flow and heat transfer in porous media and computational fluid dynamics as well as recent advances in turbulence modeling. Problems of a mixed theoretical and practical nature provide an opportunity to test mastery of the material.Table of ContentsEquations of Continuity, Motion, Energy, and Mass Diffusion. One-Dimensional Solutions. Laminar Heat Transfer in Ducts. Laminar Boundary Layers. Integral Methods. Turbulence Fundamentals. Turbulent Boundary Layers. Turbulent Flow in Ducts. Natural Convection. Boiling. Condensation. Appendices. Index.

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Book SynopsisPublisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality, authenticity, or access to any online entitlements included with the product.The definitive guide to the theory of constraintsIn this authoritative volume, the world's top Theory of Constraints (TOC) experts reveal how to implement the ground-breaking management and improvement methodology developed by Dr. Eliyahu M. Goldratt. Theory of Constraints Handbook offers an in-depth examination of this revolutionary concept of bringing about global organization performance improvement by focusing on a few leverage points of the system. Clear explanations supplemented by examples and case studies define how the theory works, why it works, what issues are resolved, and what benefits accrue, and demonstrate how TOC can be applied to different industries and situations.Theory of Constraints Handbook covers:Table of ContentsSection I: What is TOC?; Chapter 1. Introduction to TOC--My Perspective; Section II: Critical Chain Project Management; Chapter 2. The Problems with Project Management; Chapter 3. A Critical Chain Project Management Primer; Chapter 4. Getting Durable Results with Critical Chain--A Field Report; Chapter 5. Making Change Stick; Chapter 6. Project Management in a Lean World--Translating Lean Six Sigma (LSS) into the Project Environment; Section III: Drum-Butter-Rope, Buffer Management and Distribution; Chapter 7. A Review of Literature on Drum-Butter-Rope, Buffer Management and Distribution; Chapter 8. DBR, Buffer Management, and VATI Flow; Chapter 9. From DBR to Simplified-DBR for Make-to-Order; Chapter 10. Managing Make-to-Stock and the Concept of Make-to-Availability; Chapter 11. Supply Chain Management; Chapter 12. Integrated Supply Chain; Section IV: Performance Measures; Chapter 13. Traditional Measures in Finance and Accounting, Problems, Literature Review, and TOC Measures; Chapter 14. Resolving Measurement/Performance Dilemmas; Chapter 15. Continuous Improvement and Auditing; Chapter 16. Holistic TOC Implementation Case Studies; Section V: Strategy, Marketing, and Sales; Chapter 17. Traditional Strategy Models and Theory of Constraints; Chapter 18. Theory of Constraints Strategy; Chapter 19. Strategy; Chapter 20. The Layers of Resistance--The Buy-In Process According to TOC; Chapter 21. Less is More--Applying the Flow Concepts to Sales; Chapter 22. Mafia Offers: Dealing With a Market Constraint; Section VI: Thinking Processes; Chapter 23. The TOC Thinking Processes; Chapter 24. Daily Management with TOC; Chapter 25. Thinking Processes Including S&T Trees; Chapter 26. TOC for Education; Chapter 27. Theory of Constraints in Prisons; Section VII: TOC in Services; Chapter 28. Services Management; Chapter 29. Theory of Constraints in Professional, Scientific, and Technical Services; Chapter 30. Customer Support Services According to TOC; Chapter 31. Viable Vision for Health Care Systems; Chapter 32. TOC for Large-Scale Healthcare Systems; Section VIII: TOC in Complex Environments; Chapter 33. Theory of Constraints in Complex Organizations; Chapter 34. Applications of Strategy and Tactics Trees in Organizations; Chapter 35. Complex Environments; Chapter 36/ Combining Lean, Six Sigma, and the Theory of Constraints to Achieve Breakthrough Performance; Chapter 37. Using TOC in Complex Systems; Chapter 38. Theory of Constraints for Personal Productivity/Dilemmas; Selected Bibliography of Eliyahu M. Goldratt; Index

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Book SynopsisThis book is one of the first to give an overview of biomechatronic exoskeletons including their applications and implications. A collective reference specifically on biomechatronic exoskeletons, an area that is relevant to mechanical and biomedical engineers as well as those working in prosthetics, rehabilitation, and defense.Table of ContentsForeword xv Preface xvii List of Contributors xix 1 Introduction to wearable robotics 1J. L. Pons, R. Ceres and L. Calderón 1.1 Wearable robots and exoskeletons 1 1.1.1 Dual human–robot interaction in wearable robotics 3 1.1.2 A historical note 4 1.1.3 Exoskeletons: an instance of wearable robots 5 1.2 The role of bioinspiration and biomechatronics in wearable robots 6 1.2.1 Bioinspiration in the design of biomechatronic wearable robots 8 1.2.2 Biomechatronic systems in close interaction with biological systems 9 1.2.3 Biologically inspired design and optimization procedures 9 1.3 Technologies involved in robotic exoskeletons 9 1.4 A classification of wearable exoskeletons: application domains 10 1.5 Scope of the book 12 References 15 2 Basis for bioinspiration and biomimetism in wearable robots 17A. Forner-Cordero, J. L. Pons and M. Wisse 2.1 Introduction 17 2.2 General principles in biological design 18 2.2.1 Optimization of objective functions: energy consumption 19 2.2.2 Multifunctionality and adaptability 21 2.2.3 Evolution 22 2.3 Development of biologically inspired designs 23 2.3.1 Biological models 24 2.3.2 Neuromotor control structures and mechanisms as models 24 2.3.3 Muscular physiology as a model 27 2.3.4 Sensorimotor mechanisms as a model 29 2.3.5 Biomechanics of human limbs as a model 31 2.3.6 Recursive interaction: engineering models explain biological systems 31 2.4 Levels of biological inspiration in engineering design 31 2.4.1 Biomimetism: replication of observable behaviour and structures 32 2.4.2 Bioimitation: replication of dynamics and control structures 32 2.5 Case Study: limit-cycle biped walking robots to imitate human gait and to inspire the design of wearable exoskeletons 33M. Wisse 2.5.1 Introduction 33 2.5.2 Why is human walking efficient and stable? 33 2.5.3 Robot solutions for efficiency and stability 34 2.5.4 Conclusion 36 Acknowledgements 36 2.6 Case Study: MANUS-HAND, mimicking neuromotor control of grasping 36J. L. Pons, R. Ceres and L. Calderón 2.6.1 Introduction 37 2.6.2 Design of the prosthesis 37 2.6.3 MANUS-HAND control architecture 39 2.7 Case Study: internal models, CPGs and reflexes to control bipedal walking robots and exoskeletons: the ESBiRRo project 40A. Forner-Cordero 2.7.1 Introduction 40 2.7.2 Motivation for the design of LC bipeds and current limitations 41 2.7.3 Biomimetic control for an LC biped walking robot 41 2.7.4 Conclusions and future developments 43 References 43 3 Kinematics and dynamics of wearable robots 47A. Forner-Cordero, J. L. Pons, E. A. Turowska and A. Schiele 3.1 Introduction 47 3.2 Robot mechanics: motion equations 48 3.2.1 Kinematic analysis 48 3.2.2 Dynamic analysis 53 3.3 Human biomechanics 57 3.3.1 Medical description of human movements 57 3.3.2 Arm kinematics 59 3.3.3 Leg kinematics 61 3.3.4 Kinematic models of the limbs 64 3.3.5 Dynamic modelling of the human limbs 68 3.4 Kinematic redundancy in exoskeleton systems 70 3.4.1 Introduction to kinematic redundancies 70 3.4.2 Redundancies in human–exoskeleton systems 71 3.5 Case Study: a biomimetic, kinematically compliant knee joint modelled by a four-bar linkage 74J. M. Baydal-Bertomeu, D. Garrido and F. Moll 3.5.1 Introduction 74 3.5.2 Kinematics of the knee 75 3.5.3 Kinematic analysis of a four-bar linkage mechanism 75 3.5.4 Genetic algorithm methodology 77 3.5.5 Final design 77 3.5.6 Mobility analysis of the optimal crossed four-bar linkage 78 3.6 Case Study: design of a forearm pronation–supination joint in an upper limb exoskeleton 79J. M. Belda-Lois, R. Poveda, R. Barberà and J. M. Baydal-Bertomeu 3.6.1 The mechanics of pronation–supination control 79 3.7 Case Study: study of tremor characteristics based on a biomechanical model of the upper limb 80E. Rocon and J. L. Pons 3.7.1 Biomechanical model of the upper arm 81 3.7.2 Results 83 References 83 4 Human–robot cognitive interaction 87L. Bueno, F. Brunetti, A. Frizera and J. L. Pons 4.1 Introduction to human–robot interaction 87 4.2 cHRI using bioelectrical monitoring of brain activity 89 4.2.1 Physiology of brain activity 90 4.2.2 Electroencephalography (EEG) models and parameters 92 4.2.3 Brain-controlled interfaces: approaches and algorithms 93 4.3 cHRI through bioelectrical monitoring of muscle activity (EMG) 96 4.3.1 Physiology of muscle activity 97 4.3.2 Electromyography models and parameters 98 4.3.3 Surface EMG signal feature extraction 99 4.3.4 Classification of EMG activity 102 4.3.5 Force and torque estimation 104 4.4 cHRI through biomechanical monitoring 104 4.4.1 Biomechanical models and parameters 105 4.4.2 Biomechanically controlled interfaces: approaches and algorithms 108 4.5 Case Study: lower limb exoskeleton control based on learned gait patterns 109J. C. Moreno and J. L. Pons 4.5.1 Gait patterns with knee joint impedance modulation 109 4.5.2 Architecture 109 4.5.3 Fuzzy inference system 110 4.5.4 Simulation 110 4.6 Case Study: identification and tracking of involuntary human motion based on biomechanical data 111E. Rocon and J. L. Pons 4.7 Case Study: cortical control of neuroprosthetic devices 115J. M. Carmena 4.8 Case Study: gesture and posture recognition using WSNs 118E. Farella and L. Benini 4.8.1 Platform description 119 4.8.2 Implementation of concepts and algorithm 119 4.8.3 Posture detection results 121 4.8.4 Challenges: wireless sensor networks for motion tracking 121 4.8.5 Summary and outlook 122 References 122 5 Human–robot physical interaction 127E. Rocon, A. F. Ruiz, R. Raya, A. Schiele and J. L. Pons 5.1 Introduction 127 5.1.1 Physiological factors 128 5.1.2 Aspects of wearable robot design 129 5.2 Kinematic compatibility between human limbs and wearable robots 130 5.2.1 Causes of kinematic incompatibility and their negative effects 130 5.2.2 Overcoming kinematic incompatibility 133 5.3 Application of load to humans 134 5.3.1 Human tolerance of pressure 134 5.3.2 Transmission of forces through soft tissues 135 5.3.3 Support design 138 5.4 Control of human–robot interaction 138 5.4.1 Human–robot interaction: human behaviour 139 5.4.2 Human–robot interaction: robot behaviour 140 5.4.3 Human–robot closed loop 143 5.4.4 Physically triggered cognitive interactions 146 5.4.5 Stability 147 5.5 Case Study: quantification of constraint displacements and interaction forces in nonergonomic pHR interfaces 149A. Schiele 5.5.1 Theoretical analysis of constraint displacements, d 150 5.5.2 Experimental quantification of interaction force, Fd 151 5.6 Case Study: analysis of pressure distribution and tolerance areas for wearable robots 154J. M. Belda-Lois, R. Poveda and M. J. Vivas 5.6.1 Measurement of pressure tolerance 155 5.7 Case Study: upper limb tremor suppression through impedance control 156E. Rocon and J. L. Pons 5.8 Case Study: stance stabilization during gait through impedance control 158J. C. Moreno and J. L. Pons 5.8.1 Knee–ankle–foot orthosis (exoskeleton) 159 5.8.2 Lower leg–exoskeleton system 159 5.8.3 Stance phase stabilization: patient test 160 References 161 6 Wearable robot technologies 165J. C. Moreno, L. Bueno and J. L. Pons 6.1 Introduction to wearable robot technologies 165 6.2 Sensor technologies 166 6.2.1 Position and motion sensing: HR limb kinematic information 166 6.2.2 Bioelectrical activity sensors 171 6.2.3 HR interface force and pressure: human comfort and limb kinetic information 175 6.2.4 Microclimate sensing 179 6.3 Actuator technologies 181 6.3.1 State of the art 181 6.3.2 Control requirements for actuator technologies 183 6.3.3 Emerging actuator technologies 185 6.4 Portable energy storage technologies 189 6.4.1 Future trends 189 6.5 Case Study: inertial sensor fusion for limb orientation 190J. C. Moreno, L. Bueno and J. L. Pons 6.6 Case Study: microclimate sensing in wearable devices 192J. M. Baydal-Bertomeu, J. M. Belda-Lois, J. M. Prat and R. Barberà 6.6.1 Introduction 192 6.6.2 Thermal balance of humans 192 6.6.3 Climate conditions in clothing and wearable devices 193 6.6.4 Measurement of thermal comfort 194 6.7 Case Study: biomimetic design of a controllable knee actuator 194J. C. Moreno, L. Bueno and J. L. Pons 6.7.1 Quadriceps weakness 195 6.7.2 Functional analysis of gait as inspiration 195 6.7.3 Actuator prototype 197 References 198 7 Communication networks for wearable robots 201F. Brunetti and J. L. Pons 7.1 Introduction 201 7.2 Wearable robotic networks, from wired to wireless 203 7.2.1 Requirements 203 7.2.2 Network components: configuration of a wearable robotic network 205 7.2.3 Topology 206 7.2.4 Wearable robatic network goals and profiles 208 7.3 Wired wearable robotic networks 209 7.3.1 Enabling technologies 209 7.3.2 Network establishment, maintenance, QoS and robustness 213 7.4 Wireless wearable robotic networks 214 7.4.1 Enabling technologies 214 7.4.2 Wireless sensor network platforms 216 7.5 Case Study: smart textiles to measure comfort and performance 218J. Vanhala 7.5.1 Introduction 218 7.5.2 Application description 220 7.5.3 Platform description 221 7.5.4 Implementation of concepts 222 7.5.5 Results 222 7.5.6 Discussion 223 7.6 Case Study: ExoNET 224F. Brunetti and J. L. Pons 7.6.1 Application description 224 7.6.2 Network structure 224 7.6.3 Network components 224 7.6.4 Network protocol 225 7.7 Case Study: NeuroLab, a multimodal networked exoskeleton for neuromotor and biomechanical research 226A. F. Ruiz and J. L. Pons 7.7.1 Application description 226 7.7.2 Platform description 227 7.7.3 Implementation of concepts and algorithms 227 7.8 Case Study: communication technologies for the integration of robotic systems and sensor networks at home: helping elderly people 229J. V. Martí, R. Marín, J. Fernández, M. Nuñez, O. Rajadell, L. Nomdedeu, J. Sales, P. Agustí, A. Fabregat and A. P. del Pobil 7.8.1 Introduction 230 7.8.2 Communication systems 230 7.8.3 IP-based protocols 232 Acknowledgements 233 References 233 8 Wearable upper limb robots 235E. Rocon, A. F. Ruiz and J. L. Pons 8.1 Case Study: the wearable orthosis for tremor assessment and suppression (WOTAS) 236E. Rocon and J. L. Pons 8.1.1 Introduction 236 8.1.2 Wearable orthosis for tremor assessment and suppression (WOTAS) 236 8.1.3 Experimental protocol 239 8.1.4 Results 240 8.1.5 Discussion and conclusions 241 8.2 Case Study: the CyberHand 242L. Beccai, S. Micera, C. Cipriani, J. Carpaneto and M. C. Carrozza 8.2.1 Introduction 242 8.2.2 The multi-DoF bioinspired hand prosthesis 242 8.2.3 The neural interface 245 8.2.4 Conclusions 247 8.3 Case Study: the ergonomic EXARM exoskeleton 248A. Schiele 8.3.1 Introduction 248 8.3.2 Ergonomic exoskeleton: challenges and innovation 250 8.3.3 The EXARM implementation 251 8.3.4 Summary and conclusion 254 8.4 Case Study: the NEUROBOTICS exoskeleton (NEUROExos) 255S. Roccella, E. Cattin, N. Vitiello, F. Vecchi and M. C. Carrozza 8.4.1 Exoskeleton control approach 257 8.4.2 Application domains for the NEUROExos exoskeleton 258 8.5 Case Study: an upper limb powered exoskeleton 259J. C. Perry and J. Rosen 8.5.1 Exoskeleton design 259 8.5.2 Conclusions and discussion 268 8.6 Case Study: soft exoskeleton for use in physiotherapy and training 269N. G. Tsagarakis, D. G. Caldwell and S. Kousidou 8.6.1 Soft arm–exoskeleton design 270 8.6.2 System control 272 8.6.3 Experimental results 275 8.6.4 Conclusions 277 References 278 9 Wearable lower limb and full-body robots 283J. Moreno, E. Turowska and J. L. Pons 9.1 Case Study: GAIT–ESBiRRo: lower limb exoskeletons for functional compensation of pathological gait 283J. C. Moreno and J. L. Pons 9.1.1 Introduction 283 9.1.2 Pathological gait and biomechanical aspects 284 9.1.3 The GAIT concept 285 9.1.4 Actuation 286 9.1.5 Sensor system 286 9.1.6 Control system 286 9.1.7 Evaluation 287 9.1.8 Next generation of lower limb exoskeletons: the ESBiRRo project 289 9.2 Case Study: an ankle–foot orthosis powered by artificial pneumatic muscles 289D. P. Ferris 9.2.1 Introduction 289 9.2.2 Orthosis construction 290 9.2.3 Artificial pneumatic muscles 291 9.2.4 Muscle mounting 291 9.2.5 Orthosis mass 292 9.2.6 Orthosis control 292 9.2.7 Performance data 292 9.2.8 Major conclusions 295 9.3 Case Study: intelligent and powered leg prosthesis 295K. De Roy 9.3.1 Introduction 296 9.3.2 Functional analysis of the prosthetic leg 297 9.3.3 Conclusions 303 9.4 Case Study: the control method of the HAL (hybrid assistive limb) for a swinging motion 304J. Moreno, E. Turouska and J. L. Pons 9.4.1 System 305 9.4.2 Actuator control 305 9.4.3 Performance 306 9.5 Case Study: Kanagawa Institute of Technology power-assist suit 308K. Yamamoto 9.5.1 The basic design concepts 308 9.5.2 Power-assist suit 308 9.5.3 Controller 310 9.5.4 Physical dynamics model 310 9.5.5 Muscle hardness sensor 310 9.5.6 Direct drive pneumatic actuators 311 9.5.7 Units 311 9.5.8 Operating characteristics of units 312 9.6 Case Study: EEG-based cHRI of a robotic wheelchair 314T. F. Bastos-Filho, M. Sarcinelli-Filho, A. Ferreira, W. C. Celeste, R. L. Silva, V. R. Martins, D. C. Cavalieri, P. N. S. Filgueira and I. B. Arantes 9.6.1 EEG acquisition and processing 315 9.6.2 The PDA-based graphic interface 317 9.6.3 Experiments 317 9.6.4 Results and concluding remarks 318 Acknowledgements 319 References 319 10 Summary, conclusions and outlook 323J. L. Pons, R. Ceres and L. Calderón 10.1 Summary 323 10.1.1 Bioinspiration in designing wearable robots 324 10.1.2 Mechanics of wearable robots 326 10.1.3 Cognitive and physical human–robot interaction 327 10.1.4 Technologies for wearable robots 328 10.1.5 Outstanding research projects on wearable robots 329 10.2 Conclusions and outlook 330 References 332 Index 335

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Book SynopsisVibration Testing: Theory and Practice, Second Edition is a step-by-step guide that shows how to obtain meaningful experimental results via the proper use of modern instrumentation, vibration exciters, and signal-processing equipment, with particular emphasis on how different types of signals are processed with a frequency analyzer. Thoroughly updated, this new edition covers all basic concepts and principles underlying dynamic testing, explains how current instruments and methods operate within the dynamic environment, and describes their behavior in a number of commonly encountered field and laboratory test situations.Trade Review"…is a good foundational text for engineers concerned with component vibration testing as it might relate to failure analysis, qualification testing, reliability testing, and machinery diagnostics. The book is well written and makes the presented concepts easy to understand. I recommend it both as an introduction to laboratory testing techniques for the relative novice and as a reference for experienced practitioners in the field." (Noise Control Engineering, Jan-Feb 2009)Table of ContentsPreface xix 1. An Overview of Vibration Testing 1 1.1 Introduction 2 1.2 Preliminary Considerations 6 1.3 General Input-Output Relationships in the Frequency Domain 8 1.4 Overview of Equipment Employed 10 1.5 Summary 12 2. Dynamic Signal Analysis 13 2.1 Introduction 14 2.2 Phasor Representation of Periodic Functions 21 2.3 Periodic Time Histories 26 2.4 Transient Signal Analysis 32 2.5 Correlation Concepts—A Statistical Point of View 38 2.6 Correlation Concepts—Periodic Time Histories 40 2.7 Correlation Concepts—Transient Time Histories 47 2.8 Correlation Concepts—Random Time Histories 50 2.9 Summary 63 2.10 General References on Signal Analysis 65 3. Vibration Concepts 67 3.1 Introduction 68 3.2 The Single DOF Model 68 3.3 Single Degree of Freedom Forced Response 76 3.4 General Input-Output Model For Linear Systems 88 3.5 The Two Degrees of Freedom Vibration Model 101 3.6 The Second-Order Continuous Vibration Model 115 3.7 Fourth-Order Continuous Vibration System—The Beam 130 3.8 Nonlinear Behavior 143 3.9 Summary 156 3.10 References 161 4. Transducer Measurement Considerations 164 4.1 Introduction 164 4.2 Fixed Reference Transducers 166 4.3 Mechanical Model of Seismic Transducers—The Accelerometer 173 4.4 Piezoelectric Sensor Characteristics 180 4.5 Combined Linear and Angular Accelerometers 193 4.6 Transducer Response to Transient Inputs 199 4.7 Accelerometer Cross-Axis Sensitivity 212 4.8 The Force Transducer General Model 222 4.9 Correcting FRF Data for Force Transducer Mass Loading 235 4.10 Calibration 246 4.11 Environmental Factors 263 4.12 Summary 267 5. The Digital Frequency Analyzer 272 5.1 Introduction 272 5.2 Basic Processes of a Digital Frequency Analyzer 274 5.3 Digital Analyzer Operating Principles 289 5.4 Factors in the Application of a Single-Channel Analyzer 296 5.5 The Dual-Channel Analyzer 314 5.6 The Effects of Signal Noise on FRF Measurements 326 5.7 Overlapping Signal Analysis to Reduce Analysis Time 339 5.8 Zoom Analysis 348 5.9 Scan Analysis, Scan Averaging, and More on Spectral Smearing 359 5.10 Summary 368 6. Vibration Excitation Mechanisms 374 6.1 Introduction 375 6.2 Mechanical Vibration Exciters 382 6.3 Electrohydraulic Exciters 394 6.4 The Modeling of an Electro Magnetic Vibration Exciter System 403 6.5 An Exciter System’s Bare Table Characteristics 419 6.6 Interaction of An Exciter and a Grounded Single DOF Structure 426 6.7 Interaction of an Exciter and an Ungrounded Structure Under Test 438 6.8 Measuring An Exciter’s Actual Characteristics 449 6.9 Summary 460 7. The Application of Basic Concepts to Vibration Testing 465 7.1 Introduction 466 7.2 Sudden Release Or Step Relaxation Method 468 7.3 Forced Response of a Simply Supported Beam Mounted on an Exciter 485 7.4 Impulse Testing 499 7.5 Selecting Proper Windows for Impulse Testing 510 7.6 Vibration Exciter Driving a Free-Free Beam With Point Loads 530 7.7 Windowing Effects on Random Test Results 539 7.8 Low-Frequency Damping Measurements Reveal Subtle Data Processing Problems 551 7.9 A Linear Structure Becomes Nonlinear Due To Its Test Environment 559 7.10 Summary 573 8. General Vibration Testing Model: From the Field to the Laboratory 579 8.1 Introduction 580 8.2 A Two-Point Input-Output Model of Field and Laboratory Simulation Environments 587 8.3 Laboratory Simulation Schemes Based on the Elementary Model 593 8.4 An Example Using a Two DOF Test Item and a Two DOF Vehicle 603 8.5 The General Field Environment Model 622 8.6 The General Laboratory Environment Model 627 8.7 Test Scenarios for Laboratory Simulations 630 8.8 Summary 634 Index 641

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Book SynopsisRevealing suspension geometry design methods in unique detail, John Dixon shows how suspension properties such as bump steer, roll steer, bump camber, compliance steer and roll centres are analysed and controlled by the professional engineer.Table of ContentsPreface. 1 Introduction and History. 1.1 Introduction. 1.2 Early Steering History. 1.3 Leaf-Spring Axles. 1.4 Transverse Leaf Springs. 1.5 Early Independent Fronts. 1.6 Independent Front Suspension. 1.7 Driven Rigid Axles. 1.8 De Dion Rigid Axles. 1.9 Undriven Rigid Axles. 1.10 Independent Rear Driven. 1.11 Independent Rear Undriven. 1.12 Trailing-Twist Axles. 1.13 Some Unusual Suspensions. References. 2 Road Geometry. 2.1 Introduction. 2.2 The Road. 2.3 Road Curvatures. 2.4 Pitch Gradient and Curvature. 2.5 Road Bank Angle. 2.6 Combined Gradient and Banking. 2.7 Path Analysis. 2.8 Particle-Vehicle Analysis. 2.9 Two-Axle-Vehicle Analysis. 2.10 Road Cross-Sectional Shape. 2.11 Road Torsion. 2.12 Logger Data Analysis. References. 3 Road Profiles. 3.1 Introduction. 3.2 Isolated Ramps. 3.3 Isolated Bumps. 3.4 Sinusoidal Single Paths. 3.5 Sinusoidal Roads. 3.6 Fixed Waveform. 3.7 Fourier Analysis. 3.8 Road Wavelengths. 3.9 Stochastic Roads. References. 4 Ride Geometry. 4.1 Introduction. 4.2 Wheel and Tyre Geometry. 4.3 Suspension Bump. 4.4 Ride Positions. 4.5 Pitch. 4.5 Roll. 4.7 Ride Height. 4.8 Time-Domain Ride Analysis. 4.9 Frequency-Domain Ride Analysis. 4.10 Workspace. 5 Vehicle Steering. 5.1 Introduction. 5.2 Turning Geometry – Single Track. 5.3 Ackermann Factor. 5.4 Turning Geometry – Large Vehicles. 5.5 Steering Ratio. 5.6 Steering Systems. 5.7 Wheel Spin Axis. 5.8 Wheel Bottom Point. 5.9 Wheel Steering Axis. 5.10 Caster Angle. 5.11 Camber Angle. 5.12 Kingpin Angle Analysis. 5.13 Kingpin Axis Steered. 5.14 Steer Jacking. References. 6 Bump and Roll Steer. 6.1 Introduction. 6.2 Wheel Bump Steer. 6.3 Axle Steer Angles. 6.4 Roll Steer and Understeer. 6.5 Axle Linear Bump and Roll Steer. 6.6 Axle Non-Linear Bump and Roll Steer. 6.7 Axle Double-Bump Steer. 6.8 Vehicle Roll Steer. 6.9 Vehicle Heave Steer. 6.10 Vehicle Pitch Steer. 6.11 Static Toe-In and Toe-Out. 6.12 Rigid Axles with Link Location. 6.13 Rigid Axles with Leaf Springs. 6.14 Rigid Axles with Steering. References. 7 Camber and Scrub. 7.1 Introduction. 7.2 Wheel Inclination and Camber. 7.3 Axle Inclination and Camber. 7.4 Linear Bump and Roll. 7.5 Non-Linear Bump and Roll. 7.6 The Swing Arm. 7.7 Bump Camber Coefficients. 7.8 Roll Camber Coefficients. 7.9 Bump Scrub. 7.10 Double-Bump Scrub. 7.11 Roll Scrub. 7.12 Rigid Axles. References. 8 Roll Centres. 8.1 Introduction. 8.2 The Swing Arm. 8.3 The Kinematic Roll Centre. 8.4 The Force Roll Centre. 8.5 The Geometric Roll Centre. 8.6 Symmetrical Double Bump. 8.7 Linear Single Bump. 8.8 Asymmetrical Double Bump. 8.9 Roll of a Symmetrical Vehicle. 8.10 Linear Symmetrical Vehicle Summary. 8.11 Roll of an Asymmetrical Vehicle. 8.12 Road Coordinates. 8.13 GRC and Latac. 8.14 Experimental Roll Centres. References. 9 Compliance Steer. 9.1 Introduction. 9.2 Wheel Forces and Moments. 9.3 Compliance Angles. 9.4 Independent Suspension Compliance. 9.5 Discussion of Matrix. 9.6 Independent-Suspension Summary. 9.7 Hub Centre Forces. 9.8 Steering. 9.9 Rigid Axles. 9.10 Experimental Measurements. References. 10 Pitch Geometry. 10.1 Introduction. 10.2 Acceleration and Braking. 10.3 Anti-Dive. 10.4 Anti-Rise 10.5 Anti-Lift. 10.6 Anti-Squat. 10.7 Design Implications. 11 Single-Arm Suspensions. 11.1 Introduction. 11.2 Pivot Axis Geometry. 11.3 Wheel Axis Geometry. 11.4 The Trailing Arm. 11.5 The Sloped-Axis Trailing Arm. 11.6 The Semi-Trailing Arm. 11.7 The Low-Pivot Semi-Trailing Arm. 11.8 The Transverse Arm. 11.9 The Sloped-Axis Transverse Arm. 11.10 The Semi-Transverse Arm. 11.11 The Low-Pivot Semi-Transverse Arm. 11.12 General Case Numerical Solution. 11.13 Comparison of Solutions. 11.14 The Steered Single Arm. 11.15 Bump Scrub. References. 12 Double-Arm Suspensions. 12.1 Introduction. 12.2 Configurations. 12.3 Arm Lengths and Angles. 12.4 Equal Arm Length. 12.5 Equally-Angled Arms. 12.6 Converging Arms. 12.7 Arm Length Difference. 12.8 General Solution. 12.9 Design Process. 12.10 Numerical Solution in Two Dimensions. 12.11 Pitch. 12.12 Numerical Solution in Three Dimensions. 12.13 Steering. 12.14 Strut Analysis in Two Dimensions. 12.15 Strut Numerical Solution in Two Dimensions. 12.16 Strut Design Process. 12.17 Strut Numerical Solution in Three Dimensions. 12.18 Double Trailing Arms. 12.19 Five-Link Suspension. 13 Rigid Axles. 13.1 Introduction. 13.2 Example Configuration. 13.3 Axle Variables. 13.4 Pivot-Point Analysis. 13.5 Link Analysis. 13.6 Equivalent Links. 13.7 Numerical Solution. 13.8 The Sensitivity Matrix. 13.9 Results: Axle 1. 13.10 Results: Axle 2. 13.11 Coefficients. 14 Installation Ratios. 14.1 Introduction. 14.2 Motion Ratio. 14.3 Displacement Method. 14.4 Velocity Diagrams. 14.5 Computer Evaluation. 14.6 Mechanical Displacement. 14.7 The Rocker. 14.8 The Rigid Arm. 14.9 Double Wishbones. 14.10 Struts. 14.11 Pushrods and Pullrods. 14.12 Solid Axles. 14.13 The Effect of Motion Ratio on Inertia. 14.14 The Effect of Motion Ratio on Springs. 14.15 The Effect of Motion Ratio on Dampers. 14.16 Velocity Diagrams in Three Dimensions. 14.17 Acceleration Diagrams. References. 15 Computational Geometry in Three Dimensions. 15.1 Introduction. 15.2 Coordinate Systems. 15.3 Transformation of Coordinates. 15.4 Direction Numbers and Cosines. 15.5 Vector Dot Product. 15.6 Vector Cross Product. 15.7 The Sine Rule. 15.8 The Cosine Rule. 15.9 Points. 15.10 Lines. 15.11 Planes. 15.12 Spheres. 15.13 Circles. 15.14 Routine PointFPL2P. 15.15 Routine PointFPLPDC. 15.16 Routine PointITinit. 15.17 Routine PointIT. 15.18 Routine PointFPT. 15.19 Routine Plane3P. 15.20 Routine PointFP. 15.21 Routine PointFPPl3P. 15.22 Routine PointATinit. 15.23 Routine PointAT. 15.24 Routine Points3S. 15.25 Routine Points2SHP. 15.26 Routine Point3Pl. 15.27 Routine 'PointLP'. 15.28 Routine Point3SV. 15.29 Routine PointITV. 15.30 Routine PointATV. 15.31 Rotations. 16 Programming Considerations. 16.1 Introduction. 16.2 The RASER Value. 16.3 Failure Modes Analysis. 16.4 Reliability. 16.5 Bad Conditioning. 16.6 Data Sensitivity. 16.7 Accuracy. 16.8 Speed. 16.9 Ease of Use. 16.10 The Assembly Problem. 16.11 Checksums. 17 Iteration. 17.1 Introduction. 17.2 Three Phases of Iteration. 17.3 Convergence. 17.4 Binary Search. 17.5 Linear Iterations. 17.6 Iterative Exits. 17.7 Fixed-Point Iteration. 17.8 Accelerated Convergence. 17.9 Higher Orders without Derivatives. 17.10 Newton’s Iterations. 17.11 Other Derivative Methods. 17.12 Polynomial Roots. 17.13 Testing. References. Appendix A: Nomenclature. Appendix B: Units. Appendix C: Greek Alphabet. Appendix D: Quaternions for Engineers. Appendix E: Frenet, Serret and Darboux. Appendix F: The Fourier Transform. References and Bibliography. Index.

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Book SynopsisImparts the theory and analysis regarding the dynamics of rotating machinery in order to design such rotating devices as turbines, jet engines, pumps and power-transmission shafts. Takes into account the forces acting upon machine structures, bearings and related components. Provides numerical techniques for analyzing and understanding rotor systems with examples of actual designs. Features an excellent treatment of numerical methods available to obtain computer solutions for authentic design problems.Table of ContentsStructural-Dynamic Models and Eigenanalysis for Undamped FlexibleRotors. Rotordynamic Introduction to Hydrodynamic Bearings and Squeeze-FilmDampers. Rotordynamic Models for Liquid Annular Seals. Rotordynamic Models for Annular Gas Seals. Rotordynamic Models for Turbines and Pump Impellers. Developing and Analyzing a System Rotordynamics Model. Example Rotor Analysis. Appendices. Index.

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Book SynopsisThe first comprehensive reference on the design, analysis, and application of space vehicle mechanisms Space Vehicle Mechanisms: Elements of Successful Design brings together accumulated industry experience in the design, analysis, and application of the mechanical systems used during space flight.Table of ContentsStainless Steels (P. Gross). Beryllium and Its Alloys (J. Marder). Structural Composites (F. Penado). Fasterner Materials (W. Ferguson). Ball Bearing Materials (J. Grout). Spring Materials (D. Kasul). Solid Lubricants (D. Stone & P. Bessette). Other Broadly Used Materials (G. Dallimore). Pyrotechnic Release Devices (N. Butterfield). Nonexplosive Release Devices (W. Purdy). Ball Bearings (H. Singer). Permanent Magnet Motors (R. Fink, et al.). Feedback Devices (T. Malcolm, et al.). Rotating Signal and Power Transfer (S. Cole, et al.). Deployment Devices (M. Bowden). Structural Dynamics (J. Leete). Contamination (R. Rantanen). Thermal Design (H. Wong). Radiation and Survivability (M. Rose). Design Validation (N. Butterfield & P. Conley). Electrical Interfaces (L. Ekman). The Pointing Subsystem (B. Eyerly & W. Burkett). Appendices. Index.

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Book SynopsisThis book deals with the Finite Element Method for the analysis of elastic structures such as beams, plates, shells and solids. The modern approach of Unified Formulation (UF), as proposed by the lead author, deals with the consideration of one-dimensional (beams), two-dimensional (plates and shells) and three-dimensional (solids) elements.Table of ContentsPreface xiii List of symbols and acronyms xvii 1 Introduction 1 1.1 What is in this book 1 1.2 The finite element method 2 1.2.1 Approximation of the domain 2 1.2.2 The numerical approximation 4 1.3 Calculation of the area of a surface with a complex geometry via FEM 5 1.4 Elasticity of a bar 6 1.5 Stiffness matrix of a single bar 8 1.6 Stiffness matrix of a bar via the Principle of Virtual Displacements 11 1.7 Truss structures and their automatic calculation by means of FEM 14 1.8 Example of a truss structure 17 1.8.1 Element matrices in the local reference system 18 1.8.2 Element matrices in the global reference system 18 1.8.3 Global structure stiffness matrix assembly 19 1.8.4 Application of boundary conditions and the numerical solution 20 1.9 Outline of the book contents 22 2 Fundamental equations of three-dimensional elasticity 25 2.1 Equilibrium conditions 25 2.2 Geometrical relations 27 2.3 Hooke's law 27 2.4 Displacement formulations 28 3 From 3D problems to 2D and 1D problems: theories for beams, plates and shells 31 3.1 Typical structures 31 3.1.1 Three-dimensional structures, 3D (solids) 32 3.1.2 Two-dimensional structures, 2D (plates, shells and membranes) 32 3.1.3 One-dimensional structures, 1D (beams and bars) 33 3.2 Axiomatic method 33 3.2.1 2D case 34 3.2.2 1D Case 37 3.3 Asymptotic method 39 4 Typical FE governing equations and procedures 41 4.1 Static response analysis 41 4.2 Free vibration analysis 42 4.3 Dynamic response analysis 43 5 Introduction to the unified formulation 47 5.1 Stiffness matrix of a bar and the related fundamental nucleus 47 5.2 Fundamental nucleus for the case of a bar element with internal nodes 49 5.2.1 The case of an arbitrary defined number of nodes 53 5.3 Combination of FEM and the theory of structure approximations: a four indices fundamental nucleus and the Carrera unified formulation 54 5.3.1 Fundamental nucleus for a 1D element with a variable axial displacement over the cross-section 55 5.3.2 Fundamental nucleus for a 1D structure with a complete displacement field: the case of a refined beam model 56 5.4 CUF assembly technique 58 5.5 CUF as a unique approach for one-, two- and three-dimensional structures 59 5.6 Literature review of the CUF 60 6 The displacement approach via the Principle of Virtual Displacements and FN for 1D, 2D and 3D elements 65 6.1 Strong form of the equilibrium equations via PVD 65 6.1.1 The two fundamental terms of the fundamental nucleus 69 6.2 Weak form of the solid model using the PVD 69 6.3 Weak form of a solid element using indicial notation 72 6.4 Fundamental nucleus for 1D, 2D and 3D problems in unique form 73 6.4.1 Three-dimensional models 74 6.4.2 Two-dimensional models 74 6.4.3 One-dimensional models 75 6.5 CUF at a glance 76 6.5.1 Choice of Ni, Nj, F and Fs 78 7 3D FEM formulation (solid elements) 81 7.1 An 8-node element using the classical matrix notation 81 7.1.1 Stiffness Matrix 83 7.1.2 Load Vector 84 7.2 Derivation of the stiffness matrix using the indicial notation 85 7.2.1 Governing equations 86 7.2.2 Finite element approximation in the CUF framework 86 7.2.3 Stiffness matrix 87 7.2.4 Mass matrix 89 7.2.5 Loading vector 90 7.3 3D numerical integration 91 7.3.1 3D Gauss-Legendre quadrature 91 7.3.2 Isoparametric formulation 92 7.3.3 Reduced integration: shear locking correction 93 7.4 Shape functions 95 8 1D models with N-order displacement field, the Taylor Expansion class (TE) 99 8.1 Classical models and the complete linear expansion case 99 8.1.1 The Euler-Bernoulli beam model (EBBT) 101 8.1.2 The Timoshenko beam theory (TBT) 102 8.1.3 The complete linear expansion case 105 8.1.4 A finite element based on N = 1 106 8.2 EBBT, TBT and N = 1 in unified form 107 8.2.1 Unified formulation of N = 1 108 8.2.2 EBBT and TBT as particular cases of N = 1 109 8.3 Carrera unified formulation for higher-order models 110 8.3.1 N = 3 and N = 4 112 8.3.2 N-order 113 8.4 Governing equations, finite element formulation and the fundamental nucleus 114 8.4.1 Governing equations 115 8.4.2 Finite element formulation 116 8.4.3 Stiffness matrix 117 8.4.4 Mass matrix 120 8.4.5 Loading vector 121 8.5 Locking phenomena 122 8.5.1 Poisson locking and its correction 123 8.5.2 Shear Locking 125 8.6 Numerical applications 126 8.6.1 Structural analysis of a thin-walled cylinder 128 8.6.2 Dynamic response of compact and thin-walled structures 132 9 1D models with a physical volume/surface-based geometry and pure displacement variables, the Lagrange Expansion class (LE) 143 9.1 Physical volume/surface approach 143 9.2 Lagrange polynomials and isoparametric formulation 145 9.2.1 Lagrange polynomials 147 9.2.2 Isoparametric formulation 150 9.3 LE displacement fields and cross-section elements 153 9.3.1 Finite element formulation and fundamental nucleus 156 9.4 Cross-section multi-elements and locally refined models 159 9.5 Numerical examples 160 9.5.1 Mesh refinement and convergence analysis 160 9.5.2 Considerations on Poisson’s locking 165 9.5.3 Thin-walled structures and open cross-sections 167 9.5.4 Solid-like geometrical boundary conditions 174 9.6 The Component-Wise approach for aerospace and civil engineering applications 184 9.6.1 CW for aeronautical structures 184 9.6.2 CW for civil engineering 197 10 2D plate models with N-order displacement field, the Taylor expansion class 201 10.1 Classical models and the complete linear expansion 201 10.1.1 Classical plate theory 203 10.1.2 First-order shear deformation theory 205 10.1.3 The complete linear expansion case 207 10.1.4 A finite element based on N = 1 207 10.2 CPT, FSDT and N = 1 model in unified form 209 10.2.1 Unified formulation of N = 1 model 209 10.2.2 CPT and FSDT as particular cases of N = 1 211 10.3 Carrera unified formulation of N-order 211 10.3.1 N = 3 and N = 4 213 10.4 Governing equations, finite element formulation and the fundamental nucleus 213 10.4.1 Governing equations 214 10.4.2 Finite element formulation 215 10.4.3 Stiffness matrix 216 10.4.4 Mass matrix 217 10.4.5 Loading vector 218 10.4.6 Numerical integration 218 10.5 Locking phenomena 220 10.5.1 Poisson locking and its correction 220 10.5.2 Shear locking and its correction 221 10.6 Numerical Applications 226 11 2D shell models with N-order displacement field, the Taylor expansion class 231 11.1 Geometry description 231 11.2 Classical models and unified formulation 234 11.3 Geometrical relations for cylindrical shells 235 11.4 Governing equations, finite element formulation and the fundamental nucleus 238 11.4.1 Governing equations 238 11.4.2 Finite element formulation 238 11.5 Membrane and shear locking phenomenon 239 11.5.1 MITC9 shell element 240 11.5.2 Stiffness matrix 244 11.6 Numerical applications 247 12 2D models with physical volume/surface-based geometry and pure displacement variables, the Lagrange Expansion class (LE) 255 12.1 Physical volume/surface approach 255 12.2 Lagrange expansion model 258 12.3 Numerical examples 259 13 Discussion on possible best beam, plate and shell diagrams 263 13.1 The Mixed Axiomatic/Asymptotic Method 263 13.2 Static analysis of beams 267 13.2.1 Influence of the loading conditions 267 13.2.2 Influence of the cross-section geometry 268 13.2.3 Reduced models vs accuracy 269 13.3 Modal analysis of beams 271 13.3.1 Influence of the cross-section geometry 271 13.3.2 Influence of the boundary conditions 276 13.4 Static analysis of plates and shells 276 13.4.1 Influence of the boundary conditions 279 13.4.2 Influence of the loading conditions 280 13.4.3 Influence of the loading and thickness 283 13.4.4 Influence of the thickness ratio on shells 287 13.5 The best theory diagram 290 14 Mixing variable kinematic models 295 14.1 Coupling variable kinematic models via shared stiffness 296 14.1.1 Application of the shared stiffness method 298 14.2 Coupling variable kinematic models via the Lagrange multiplier method 299 14.2.1 Application of the Lagrange multiplier method to variable kinematics models 302 14.3 Coupling variable kinematic models via the Arlequin method 303 14.3.1 Application of the Arlequin method 305 15 Extension to multilayered structures 307 15.1 Multilayered structures 307 15.2 Theories on multilayered structures 311 15.2.1 C0z–requirements 312 15.2.2 Refined theories 312 15.2.3 Zig-Zag theories 313 15.2.4 Layer-Wise theories 314 15.2.5 Mixed theories 315 15.3 Unified formulation for multilayered structures 315 15.3.1 ESL models 316 15.3.2 Inclusion of Murakami’s Zig-Zag function 316 15.3.3 Layer-Wise theory and Legendre expansion 317 15.3.4 Mixed models with displacement an transverse stress variables 318 15.4 Finite element formulation 319 15.4.1 Assemblage at multi-layer level 320 15.4.2 Selected results 320 15.5 Literature on CUF extended to multilayered structures 323 16 Extension to multifield problems 329 16.1 Mechanical vs field loadings 329 16.2 The need for second generation FEs for multifaced cases 330 16.3 Constitutive equations for multifield problems 331 16.4 Variational statements for multifield problems 334 16.4.1 PVD - Principle of Virtual Displacements 335 16.4.2 RMVT - Reissner Mixed Variational Theorem 338 16.5 Use of variational statements to obtained FE equations in terms of ”Fundamental Nuclei” 340 16.5.1 PVD - applications 341 16.5.2 RMVT - applications 343 16.6 Selected results 346 16.6.1 Mechanical-Electrical coupling: static analysis of an actuator plate 347 16.6.2 Mechanical-Electrical coupling: comparison between RMVT analyses 349 16.7 Literature on CUF extended to multifield problems 349 A Numerical integration 357 A.1 Gauss-Legendre quadrature 357 B CUF finite element models: programming and implementation guidelines 361 B.1 Preprocessing and input descriptions 361 B.1.1 General FE inputs 362 B.1.2 Specific CUF inputs 367 B.2 FEM code 371 B.2.1 Stiffness and mass matrix 372 B.2.2 Stiffness and mass matrix numerical examples 377 B.2.3 Constraints and reduced models 379 B.2.4 Load vector 382 B.3 Postprocessing 384 B.3.1 Stresses and strains 385 References 386

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Book SynopsisR.C. Hibbeler graduated from the University of Illinois-Urbana with a B.S. in Civil Engineering (major in Structures) and an M.S. in Nuclear Engineering. He obtained his PhD in Theoretical and Applied Mechanics from Northwestern University. Professor Hibbeler's professional experience includes postdoctoral work in reactor safety and analysis at Argonne National Laboratory, and structural and stress analysis work at Chicago Bridge and Iron, as well as at Sargent and Lundy in Chicago. He has practiced engineering in Ohio, New York, and Louisiana.Table of Contents General Principles Force Vectors Equilibrium of a Particle Force System Resultants Equilibrium of a Rigid Body Structural Analysis Internal Forces Friction Center of Gravity and Centroid Moments of Inertia Virtual Work Appendix Mathematical Review and Expressions Fundamental Problems Solutions and Answers Review Problem Solutions

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Book SynopsisWritten by a leading author on the subject, PID and Predictive Control of Electric Drives and Power Supplies using MATLAB / Simulink provides a timely introduction to current research on PID and predictive control.Table of ContentsAbout the Authors xiii Preface xv Acknowledgment xix List of Symbols and Acronyms xxi 1 Modeling of AC Drives and Power Converter 1 1.1 Space Phasor Representation 1 1.1.1 Space Vector for Magnetic Motive Force 1 1.1.2 Space Vector Representation of Voltage Equation 4 1.2 Model of Surface Mounted PMSM 5 1.2.1 Representation in Stationary Reference Frame 5 1.2.2 Representation in Synchronous Reference Frame 7 1.2.3 Electromagnetic Torque 8 1.3 Model of Interior Magnets PMSM 10 1.3.1 Complete Model of PMSM 11 1.4 Per Unit Model and PMSM Parameters 11 1.4.1 Per Unit Model and Physical Parameters 11 1.4.2 Experimental Validation of PMSM Model 12 1.5 Modeling of Induction Motor 13 1.5.1 Space Vector Representation of Voltage Equation of Induction Motor 13 1.5.2 Representation in Stationary Reference Frame 17 1.5.3 Representation in Reference Frame 17 1.5.4 Electromagnetic Torque of Induction Motor 19 1.5.5 Model Parameters of Induction Motor and Model Validation 19 1.6 Modeling of Power Converter 21 1.6.1 Space Vector Representation of Voltage Equation for Power Converter 22 1.6.2 Representation in Reference Frame 22 1.6.3 Representation in Reference Frame 23 1.6.4 Energy Balance Equation 24 1.7 Summary 25 1.8 Further Reading 25 References 25 2 Control of Semiconductor Switches via PWM Technologies 27 2.1 Topology of IGBT Inverter 28 2.2 Six-step Operating Mode 30 2.3 Carrier Based PWM 31 2.3.1 Sinusoidal PWM 31 2.3.2 Carrier Based PWM with Zero-sequence Injection 32 2.4 Space Vector PWM 35 2.5 Simulation Study of the Effect of PWM 37 2.6 Summary 40 2.7 Further Reading 40 References 40 3 PID Control System Design for Electrical Drives and Power Converters 41 3.1 Overview of PID Control Systems Using Pole-assignment Design Techniques 42 3.1.1 PI Controller Design 42 3.1.2 Selecting the Desired Closed-loop Performance 43 3.1.3 Overshoot in Reference Response 45 3.1.4 PID Controller Design 46 3.1.5 Cascade PID Control Systems 48 3.2 Overview of PID Control of PMSM 49 3.2.1 Bridging the Sensor Measurements to Feedback Signals (See the lower part of Figure 3.6) 50 3.2.2 Bridging the Control Signals to the Inputs to the PMSM (See the top part of Figure 3.6) 51 3.3 PI Controller Design for Torque Control of PMSM 52 3.3.1 Set-point Signals to the Current Control Loops 52 3.3.2 Decoupling of the Current Control Systems 53 3.3.3 PI Current Controller Design 54 3.4 Velocity Control of PMSM 55 3.4.1 Inner-loop Proportional Control of q-axis Current 55 3.4.2 Cascade Feedback Control of Velocity:P Plus PI 57 3.4.3 Simulation Example for P Plus PI Control System 59 3.4.4 Cascade Feedback Control of Velocity:PI Plus PI 61 3.4.5 Simulation Example for PI Plus PI Control System 63 3.5 PID Controller Design for Position Control of PMSM 64 3.6 Overview of PID Control of Induction Motor 65 3.6.1 Bridging the Sensor Measurements to Feedback Signals 67 3.6.2 Bridging the Control Signals to the Inputs to the Induction Motor 67 3.7 PID Controller Design for Induction Motor 68 3.7.1 PI Control of Electromagnetic Torque of Induction Motor 68 3.7.2 Cascade Control of Velocity and Position 70 3.7.3 Slip Estimation 73 3.8 Overview of PID Control of Power Converter 74 3.8.1 Bridging Sensor Measurements to Feedback Signals 75 3.8.2 Bridging the Control Signals to the Inputs of the Power Converter 76 3.9 PI Current and Voltage Controller Design for Power Converter 76 3.9.1 P Control of d-axis Current 76 3.9.2 PI Control of q-axis Current 77 3.9.3 PI Cascade Control of Output Voltage 79 3.9.4 Simulation Example 80 3.9.5 Phase Locked Loop 80 3.10 Summary 82 3.11 Further Reading 83 References 83 4 PID Control System Implementation 87 4.1 P and PI Controller Implementation in Current Control Systems 87 4.1.1 Voltage Operational Limits in Current Control Systems 87 4.1.2 Discretization of Current Controllers 90 4.1.3 Anti-windup Mechanisms 92 4.2 Implementation of Current Controllers for PMSM 93 4.3 Implementation of Current Controllers for Induction Motors 95 4.4 Current Controller Implementation for Power Converter 97 4.4.1 Constraints on the Control Variables 97 4.5 Implementation of Outer-loop PI Control System 98 4.5.1 Constraints in the Outer-loop 98 4.5.2 Over Current Protection for AC Machines 99 4.5.3 Implementation of Outer-loop PI Control of Velocity 100 4.5.4 Over Current Protection for Power Converters 100 4.6 MATLAB Tutorial on Implementation of PI Controller 100 4.7 Summary 102 4.8 Further Reading 103 References 103 5 Tuning PID Control Systems with Experimental Validations 105 5.1 Sensitivity Functions in Feedback Control Systems 105 5.1.1 Two-degrees of Freedom Control System Structure 105 5.1.2 Sensitivity Functions 109 5.1.3 Disturbance Rejection and Noise Attenuation 110 5.2 Tuning Current-loop q-axis Proportional Controller (PMSM) 111 5.2.1 Performance Factor and Proportional Gain 112 5.2.2 Complementary Sensitivity Function 112 5.2.3 Sensitivity and Input Sensitivity Functions 114 5.2.4 Effect of PWM Noise on Current Proportional Control System 114 5.2.5 Effect of Current Sensor Noise and Bias 116 5.2.6 Experimental Case Study of Current Sensor Bias Using P Control 118 5.2.7 Experimental Case Study of Current Loop Noise 119 5.3 Tuning Current-loop PI Controller (PMSM) 123 5.4 Performance Robustness in Outer-loop Controllers 128 5.4.1 Sensitivity Functions for Outer-loop Control System 131 5.4.2 Input Sensitivity Functions for the Outer-loop System 135 5.5 Analysis of Time-delay Effects 136 5.5.1 PI Control of q-axis Current 137 5.5.2 P Control of q-axis Current 137 5.6 Tuning Cascade PI Control Systems for Induction Motor 138 5.6.1 Robustness of Cascade PI Control System 140 5.6.2 Robustness Study Using Nyquist Plot 143 5.7 Tuning PI Control Systems for Power Converter 147 5.7.1 Overview of the Designs 147 5.7.2 Tuning the Current Controllers 149 5.7.3 Tuning Voltage Controller 150 5.7.4 Experimental Evaluations 154 5.8 Tuning P Plus PI Controllers for Power Converter 157 5.8.1 Design and Sensitivity Functions 157 5.8.2 Experimental Results 158 5.9 Robustness of Power Converter Control System Using PI Current Controllers 159 5.9.1 Variation of Inductance Using PI Current Controllers 160 5.9.2 Variation of Capacitance on Closed-loop Performance 163 5.10 Summary 167 5.10.1 Current Controllers 167 5.10.2 Velocity, Position and Voltage Controllers 168 5.10.3 Choice between P Current Control and PI Current Control 169 5.11 Further Reading 169 References 169 6 FCS Predictive Control in d − q Reference Frame 171 6.1 States of IGBT Inverter and the Operational Constraints 172 6.2 FCS Predictive Control of PMSM 175 6.3 MATLAB Tutorial on Real-time Implementation of FCS-MPC 177 6.3.1 Simulation Results 179 6.3.2 Experimental Results of FCS Control 181 6.4 Analysis of FCS-MPC System 182 6.4.1 Optimal Control System 182 6.4.2 Feedback Controller Gain 184 6.4.3 Constrained Optimal Control 185 6.5 Overview of FCS-MPC with Integral Action 187 6.6 Derivation of I-FCS Predictive Control Algorithm 191 6.6.1 Optimal Control without Constraints 191 6.6.2 I-FCS Predictive Controller with Constraints 194 6.6.3 Implementation of I-FCS-MPC Algorithm 196 6.7 MATLAB Tutorial on Implementation of I-FCS Predictive Controller 197 6.7.1 Simulation Results 198 6.8 I-FCS Predictive Control of Induction Motor 201 6.8.1 The Control Algorithm for an Induction Motor 202 6.8.2 Simulation Results 204 6.8.3 Experimental Results 205 6.9 I-FCS Predictive Control of Power Converter 209 6.9.1 I-FCS Predictive Control of a Power Converter 209 6.9.2 Simulation Results 211 6.9.3 Experimental Results 214 6.10 Evaluation of Robustness of I-FCS-MPC via Monte-Carlo Simulations 215 6.10.1 Discussion on Mean Square Errors 216 6.11 Velocity and Position Control of PMSM Using I-FCS-MPC 218 6.11.1 Choice of Sampling Rate for the Outer-loop Control System 219 6.11.2 Velocity and Position Controller Design 223 6.12 Velocity and Position Control of Induction Motor Using I-FCS-MPC 224 6.12.1 I-FCS Cascade Velocity Control of Induction Motor 225 6.12.2 I-FCS-MPC Cascade Position Control of Induction Motor 226 6.12.3 Experimental Evaluation of Velocity Control 228 6.13 Summary 232 6.13.1 Selection of sampling interval 233 6.13.2 Selection of the Integral Gain 233 6.14 Further Reading 234 References 234 7 FCS Predictive Control in Reference Frame 237 7.1 FCS Predictive Current Control of PMSM 237 7.1.1 Predictive Control Using One-step-ahead Prediction 238 7.1.2 FCS Current Control in Reference Frame 239 7.1.3 Generating Current Reference Signals in Frame 240 7.2 Resonant FCS Predictive Current Control 241 7.2.1 Control System Configuration 241 7.2.2 Outer-loop Controller Design 242 7.2.3 Resonant FCS Predictive Control System 243 7.3 Resonant FCS Current Control of Induction Motor 247 7.3.1 The Original FCS Current Control of Induction Motor 247 7.3.2 Resonant FCS Predictive Current Control of Induction Motor 250 7.3.3 Experimental Evaluations of Resonant FCS Predictive Control 252 7.4 Resonant FCS Predictive Power Converter Control 255 7.4.1 FCS Predictive Current Control of Power Converter 255 7.4.2 Experimental Results of Resonant FCS Predictive Control 260 7.5 Summary 261 7.6 Further Reading 262 References 262 8 Discrete-time Model Predictive Control (DMPC) of Electrical Drives and Power Converter 265 8.1 Linear Discrete-time Model for PMSM 266 8.1.1 Linear Model for PMSM 266 8.1.2 Discretization of the Continuous-time Model 267 8.2 Discrete-time MPC Design with Constraints 268 8.2.1 Augmented Model 269 8.2.2 Design without Constraints 270 8.2.3 Formulation of the Constraints 272 8.2.4 On-line Solution for Constrained MPC 272 8.3 Experimental Evaluation of DMPC of PMSM 274 8.3.1 The MPC Parameters 274 8.3.2 Constraints 275 8.3.3 Response to Load Disturbances 275 8.3.4 Response to a Staircase Reference 277 8.3.5 Tuning of the MPC controller 278 8.4 Power Converter Control Using DMPC with Experimental Validation 280 8.5 Summary 281 8.6 Further Reading 282 References 283 9 Continuous-time Model Predictive Control (CMPC) of Electrical Drives and PowerConverter 285 9.1 Continuous-time MPC Design 286 9.1.1 Augmented Model 286 9.1.2 Description of the Control Trajectories Using Laguerre Functions 287 9.1.3 Continuous-time Predictive Control without Constraints 289 9.1.4 Tuning of CMPC Control System Using Exponential Data Weighting and Prescribed Degree of Stability 292 9.2 CMPC with Nonlinear Constraints 294 9.2.1 Approximation of Nonlinear Constraint Using Four Linear Constraints 294 9.2.2 Approximation of Nonlinear Constraint Using Sixteen Linear Constraints 294 9.2.3 State Feedback Observer 297 9.3 Simulation and Experimental Evaluation of CMPC of Induction Motor 298 9.3.1 Simulation Results 298 9.3.2 Experimental Results 300 9.4 Continuous-time Model Predictive Control of Power Converter 301 9.4.1 Use of Prescribed Degree of Stability in the Design 302 9.4.2 Experimental Results for Rectification Mode 303 9.4.3 Experimental Results for Regeneration Mode 303 9.4.4 Experimental Results for Disturbance Rejection 304 9.5 Gain Scheduled Predictive Controller 305 9.5.1 The Weighting Parameters 305 9.5.2 Gain Scheduled Predictive Control Law 307 9.6 Experimental Results of Gain Scheduled Predictive Control of Induction Motor 309 9.6.1 The First Set of Experimental Results 309 9.6.2 The Second Set of Experimental Results 311 9.6.3 The Third Set of Experimental Results 312 9.7 Summary 312 9.8 Further Reading 313 References 313 10 MATLAB®/Simulink® Tutorials on Physical Modeling and Test-bed Setup 315 10.1 Building Embedded Functions for Park-Clarke Transformation 315 10.1.1 Park-Clarke Transformation for Current Measurements 316 10.1.2 Inverse Park-Clarke Transformation for Voltage Actuation 317 10.2 Building Simulation Model for PMSM 318 10.3 Building Simulation Model for Induction Motor 320 10.4 Building Simulation Model for Power Converter 325 10.4.1 Embedded MATLAB Function for Phase Locked Loop (PLL) 325 10.4.2 Physical Simulation Model for Grid Connected Voltage Source Converter 328 10.5 PMSM Experimental Setup 332 10.6 Induction Motor Experimental Setup 334 10.6.1 Controller 334 10.6.2 Power Supply 334 10.6.3 Inverter 335 10.6.4 Mechanical Load 335 10.6.5 Induction Motor and Sensors 335 10.7 Grid Connected Power Converter Experimental Setup 335 10.7.1 Controller 335 10.7.2 Inverter 336 10.7.3 Sensors 336 10.8 Summary 337 10.9 Further Reading 337 References 337 Index 339

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Book SynopsisModeling, analysis, and simulationâeverything vibration engineering students need to succeed, including late-breaking advances in this ever-changing fieldAdvanced Mechanical Vibration covers modeling and analysis of vibrating systems with damping and gyroscopic effects, dynamics of combined distributed-lumped systems, and approximate methods for solutions of complex vibration problems, which are often overlooked in other such textbooks. Case studies and pre-coded MATLAB toolboxes for vibration analysis and simulation help readers understand and retain the most important concepts.This is an ideal text for an upper undergraduate or graduate course in vibration engineering. Includes both analytical and numerical methods for vibration analysis Addresses the latest developments in this fast-changing field Prepares the student and professional for advanced R&D Includes chapter-ending questions with faculty-only answe

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Book Synopsis

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Book SynopsisThe text includes exercises and worked examples to facilitate understanding of the subject.Table of ContentsChapter 1: Overview. 1.1 Introduction to Modal Testing. 1.2 Applications of Modal Testing. 1.3 Philosophy of Modal Testing. 1.4 Summary of Theory. 1.5 Summary of Measurement Methods. 1.6 Summary of Modal Analysis Processes. 1.7 Review of Test Procedures, and Levels. 1.8 Terminology and Notation. Chapter 2: Theoretical Basis. 2.1 Introduction. 2.2 Single-Degree-of-Freedom (SDOF) System Theory. 2.3 Presentation and Properties of FRF Data for SDOF System. 2.4 Undamped Multi-Degree-of-Freedom (MDOF) Systems. 2.5 MDOF Systems with Proportional Damping. 2.6 MDOF Systems with Structural (Hysteretic) Damping – General Case. 2.7 MDOF Systems with Viscous Damping – General Case. 2.8 Modal Analysis of Rotating Structures. 2.9 Complex Modes. 2.10 Characteristics and Presentation of MDOF FRF Data. 2.11 Non-sinusoidal Vibration and FRF Properties. 2.12 Complete and Incomplete Models. 2.13 Sensitivity of Models. 2.14 Analysis of Weakly Non-linear Structures. Chapter 3: Response Function Measurement Techniques. 3.1 Introduction and Test Planning. 3.2 Basic Measurement System. 3.3 Structure Preparation. 3.4 Excitation of the Structure. 3.5 Transducers and Amplifiers. 3.6 Analysers. 3.7 Digital Signal Processing. 3.8 Use of Different Excitation Signals. 3.9 Calibration. 3.10 Mass Cancellation. 3.11 Rotational FRF Measurement. 3.12 Measurements on Non-Linear Structures. 3.13 Multi-point Excitation Methods. 3.14 Measuring FRFs and ODSs using the Scanning LDV. Chapter 4: Modal Parameter Extraction Methods. 4.1 Introduction. 4.2 Preliminary Checks of FRF Data. 4.3 SDOF Modal Analysis Methods. 4.4 SDOF Modal Analysis in the Frequency Domain (SISO). 4.5 Global Modal Analysis Methods in the Frequency Domain. 4.6 MDOF Modal Analysis in the Time Domain. 4.7 Modal Analysis of Non-Linear Structures. 4.8 Concluding Comments. Chapter 5: Derivation of Mathematical Models. 5.1 Introduction. 5.2 Modal Models. 5.3 Refinement of Modal Models. 5.4 Display of Modal Model. 5.5 Response Models. 5.6 Spatial Models. 5.7 Mobility Skeletons and System Models. Chapter 6: Applications. 6.1 Introduction. 6.2 Comparison of and Correlation of Experiment and Prediction. 6.3 Adjustment or Updating of Models. 6.4 Coupled and Modified Structure Analysis. 6.5 Response Prediction and Force Determination. 6.6 Test Planning. Notation. Appendices: A Maths Toolkit. 1. Use of Complex Algebra to Describe Harmonic Vibration. 2. Review of Matrix Notation and Properties. 3. Matrix Decomposition and the SVD. 4. Transformations of Equations of Motion between Stationary and Rotating Axes. 5. Fourier Analysis. References. Index.

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Book SynopsisPROJECT MANAGEMENT NEXT GENERATION Strategic guidance on enabling transformational change in the project management landscape In Project Management Next Generation: The Pillars for Organizational Excellence, a team of world-renowned project management leaders delivers an expert discussion on project management implementation in organizations of all kinds. The book explores 10 pillars of project management that will be critical for companies in the coming decade. It offers contributions from industry changemakers and thought leaders that provide the perfect balance between practical experience across a variety of programs, projects, and transformation initiatives. It's a must-have title for practicing project managers who seek hands-on guidance and insightful case studies complete with discussion questions and instruction materials, including PowerPoint lecture slides and a full Instructors Manual on the companion website. In addition to the perspectives of several global commercial oTable of ContentsPreface xi 1 Pillar #1: Strategic Delivery Capability 1 1.0 Setting the Stage 1 1.1 Background 6 1.2 Line-of-Sight 8 1.3 Sustainable Competitive Advantage 8 1.4 High-Performance Teams 9 1.5 High-Performance Organizations 9 1.6 Strategic Competency 11 1.7 Background to Barriers 12 1.8 Excellence in Action: Medtronic 24 1.9 Strategically Improving 26 1.10 Innovation in Action: Repsol 27 1.11 Strategic Agility 34 1.12 Excellence in Action: Merck Kgaa 35 1.13 Excellence in Action: Cisco 38 1.14 Excellence in Action: Servicenow 47 1.15 Excellence in Action: Farm Credit Mid-America 49 1.16 Excellence in Action: Project Management United 64 1.17 Letter to Future Project Manager 71 References 73 2 Pillar 2: Applying Project Management in Humanitarian and Social Initiatives 77 2.0 What Makes Humanitarian Projects Different? 77 2.1 The Impact of Project Management Practices in Humanitarian Projects 77 2.2 Excellence IN Action: Ambev: A Humanitarian Approach to Addressing Challenges During the Covid-19 Pandemia 78 2.3 Excellence in Action: Albert Einstein Hospital: Application of Project Management to Address the Covid-19 Health Crisis and Lessons Learned 89 2.4 Excellence in Action: United Nations: Program Management for Humanitarian and Development Projects 103 2.5 16/6 Project in Haiti 118 2.6 Conclusions 122 References 123 3 Pillar #3: Project Management Is Creating Innovative Cultures 125 3.0 Background 125 3.1 Introducing the Innovative Culture Model 125 3.2 Balanced Alignment and Autonomy 127 3.3 Excellence in Action: Sunrise UPC 127 3.4 Innovation Competencies 130 3.5 Excellence in Action: Bosch 130 3.6 Blocking Off Time to Think 147 3.7 Excellence in Action: 3M 148 3.8 Refreshed Executive Role 149 3.9 Excellence in Action: General Motors 150 3.10 The Innovation Culture 152 3.11 Excellence in Action: Apple 152 3.12 Projects as Innovation Labs 154 3.13 Excellence in Action: Samsung 154 3.14 New Ways of Working 155 3.15 Excellence in Action: Siemens 156 3.16 Readying and Sustaining Tomorrow’s Excellence Cultures 159 3.17 A Future (Working) Day in the Life of the Program Manager 160 3.18 Excellence in Action: Solvo360 163 3.19 Excellence in Action: Texas Instruments 169 4 Pillar #4: Digitalization Is Central to Delivering Projects’ Promises 173 4.0. Background 173 4.1 Excellence in Action: ASGC 174 4.2 Digitalization and Projects Framework 180 4.3 Experimenting Capacity 182 4.4 Excellence in Action: ServiceNow 182 4.5 Context-Driven Planning 185 4.6 Excellence in Action: Progressive Insurance 186 4.7 Co-Creation 190 4.8 Growth in Information Warehouses 190 4.9 Knowledge Repositories 191 4.10 The Need for Business Intelligence Systems 194 4.11 Big Data 194 4.12 Top Seven Things to Consider When Choosing a BI Tool 196 4.13 Stop Treating Business Intelligence Projects as IT Projects 198 4.14 Dashboards vs. Reports: Which One Should You Go With? 200 4.15 Mapping Dashboards to Objectives 202 4.16 Virtual Teams Engagement 203 4.17 Excellence in Action: IBM 204 4.18 Outcomes-Focused Work 218 4.19 Excellence in Action: Dubai Customs 219 4.20 Ever-Changing Ways of Working 221 4.21 Excellence in Action: Wuttke & Team 221 4.22 Digitalization and Projects Path Forward 226 5 Pillar 5: Evolving Project Delivery Skills 227 5.0 The Changing Landscape 227 5.1 Problem Solving and Decision-Making 228 5.2 Brainstorming 251 5.3 Design Thinking 257 5.4 Excellence in Action: Disney 260 References 268 6 Pillar 6: New Forms of Project Leadership 271 6.0 Introduction 271 6.1 Issues with Leadership Studies 271 6.2 Selecting the Leader 272 6.3 Introduction to Leadership Styles 272 6.4 Project Management Challenges 275 6.5 Leadership and Cultures 276 6.6 Excellence in Action: Project Leadership for the Smart Mission 277 6.7 Leadership and Stakeholder Relations Management 279 6.8 The Changing Leadership Landscape 290 6.9 Servant Leadership 292 6.10 Social Project Management Leadership 294 6.11 The Growth in Importance of Crisis Leadership 295 6.12 The Growth in Competency Models 301 6.13 Project Management Core Competency Models 303 6.14 Excellence in Action: Eli Lilly 304 6.15 Conclusions 313 References 313 7 Pillar 7: Organizational Cultural Shift to the Project Way of Working 315 7.0 Introduction 315 7.1 The Need for Cultural Shift 315 7.2 Excellence in Action: GEA Project Management in GEA Process Engineering: Our Vision for the Future 318 7.3 Excellence in Action: Norte Energia Belo Monte Hydroelectric Power Plant 324 7.4 Conclusions 349 References 349 8 Pillar 8: Adaptive Frameworks and Life Cycles 351 8.0 Background 351 8.1 The Risks of Using a Singular Methodology 352 8.2 Project Management Landscape Changes 353 8.3 The Need for Multiple Flexible Methodologies 353 8.4 Selecting the Right Framework 356 8.5 Be Careful What You Wish For 357 8.6 Strategic Selection Implications 358 8.7 Excellence in Action: ServiceNow 359 8.8 Excellence in Action: The International Institute for Learning 361 8.9 The Fuzzy Front End 367 8.10 Line-of-Sight 370 8.11 Establishing Gates 370 8.12 The Future Fuzzy Front Gates 371 8.13 Excellence in Action: IdeaScale 372 8.14 Project Selection Criteria 375 8.15 Excellence in Action: AstraZeneca 377 8.16 Excellence in Action: Airbus 391 8.17 Partnership Fuzzy Front Ends 393 8.18 Excellence in Action: Facebook 394 8.19 Life-Cycle Phases 395 8.20 Project Closure 399 8.21 Excellence in Action: Motorola 400 8.22 New Causes of Complete or Partial Failure 401 8.23 Conclusion 401 References 402 9 Pillar 9: Evolving Nature of PMOs and Governance 403 9.0 Introduction 403 9.1 How Governance Can Be Applied in an Agile and Volatile World 403 9.2 Excellence in Action: SITA – Airport Systems Integration Projects Cry for Flexible Governance 404 9.3 Excellence in Action: ServiceNow – From Project Management to Strategy Realization 406 9.4 Excellence in Action: PMO Global Alliance – PMOs in Transformation 410 9.5 Excellence in Action: Determining the Mathematical ROI of a PMO Implementation 423 9.6 Conclusions 436 References 436 10 Pillar #10: Significant Growth in Value-Driven and Business-Related Metrics 439 10.0 The Growth of Project Metrics 439 10.1 The Growth of Metric Measurement Techniques 440 10.2 Selecting the Right Metrics 442 10.3 Benefits Realization and Value Management 443 10.4 Measuring Benefits and Value 447 10.5 Excellence in Action: Philips Business Group Hospital Patient Monitoring 449 10.6 Metrics for Measuring Intangibles 466 10.7 The Need for Strategic Metrics 468 10.8 Project Health Checks 471 10.9 Action Items 475 10.10 Failure of Traditional Metrics and KPIs 476 10.11 Establishing a Metrics Management Program 477 10.12 Conclusion 478 About the Authors 479 Index 481

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Book SynopsisThe first book dedicated to operational modal analysis (OMA) and authored by a pioneer in the field, this resource provides the information an engineer needs to set up an operational modal test.Trade Review"This is an interesting book for anybody dealing with vibrations, density functions, and with data and signal processing.......I certainly recommend it as a textbook for graduate study in universities." (Zentralblatt MATH 2016)Table of ContentsPreface xi 1 Introduction 1 1.1 Why Conduct Vibration Test of Structures? 3 1.2 Techniques Available for Vibration Testing of Structures 3 1.3 Forced Vibration Testing Methods 4 1.4 Vibration Testing of Civil Engineering Structures 5 1.5 Parameter Estimation Techniques 5 1.6 Brief History of OMA 6 1.7 Modal Parameter Estimation Techniques 6 1.8 Perceived Limitations of OMA 10 1.9 Operating Deflection Shapes 10 1.10 Practical Considerations of OMA 11 1.11 About the Book Structure 13 References 15 2 Random Variables and Signals 17 2.1 Probability 17 2.1.1 Density Function and Expectation 17 2.1.2 Estimation by Time Averaging 19 2.1.3 Joint Distributions 21 2.2 Correlation 23 2.2.1 Concept of Correlation 23 2.2.2 Autocorrelation 24 2.2.3 Cross Correlation 25 2.2.4 Properties of Correlation Functions 27 2.3 The Gaussian Distribution 28 2.3.1 Density Function 28 2.3.2 The Central Limit Theorem 28 2.3.3 Conditional Mean and Correlation 30 References 31 3 Matrices and Regression 33 3.1 Vector and Matrix Notation 33 3.2 Vector and Matrix Algebra 35 3.2.1 Vectors and Inner Products 35 3.2.2 Matrices and Outer Products 36 3.2.3 Eigenvalue Decomposition 38 3.2.4 Singular Value Decomposition 40 3.2.5 Block Matrices 40 3.2.6 Scalar Matrix Measures 41 3.2.7 Vector and Matrix Calculus 43 3.3 Least Squares Regression 44 3.3.1 Linear Least Squares 44 3.3.2 Bias, Weighting and Covariance 47 References 52 4 Transforms 53 4.1 Continuous Time Fourier Transforms 53 4.1.1 Real Fourier Series 54 4.1.2 Complex Fourier Series 55 4.1.3 The Fourier Integral 58 4.2 Discrete Time Fourier Transforms 59 4.2.1 Discrete Time Representation 59 4.2.2 The Sampling Theorem 62 4.3 The Laplace Transform 66 4.3.1 The Laplace Transform as a generalization of the Fourier Transform 66 4.3.2 Laplace Transform Properties 67 4.3.3 Some Laplace Transforms 68 4.4 The Z-Transform 71 4.4.1 The Z-Transform as a generalization of the Fourier Series 71 4.4.2 Z-Transform Properties 73 4.4.3 Some Z-Transforms 73 4.4.4 Difference Equations and Transfer Function 75 4.4.5 Poles and Zeros 76 References 79 5 Classical Dynamics 81 5.1 Single Degree of Freedom System 82 5.1.1 Basic Equation 82 5.1.2 Free Decays 83 5.1.3 Impulse Response Function 87 5.1.4 Transfer Function 89 5.1.5 Frequency Response Function 90 5.2 Multiple Degree of Freedom Systems 92 5.2.1 Free Responses for Undamped Systems 93 5.2.2 Free Responses for Proportional Damping 95 5.2.3 General Solutions for Proportional Damping 95 5.2.4 Transfer Function and FRF Matrix for Proportional Damping 96 5.2.5 General Damping 99 5.3 Special Topics 107 5.3.1 Structural Modification Theory 107 5.3.2 Sensitivity Equations 109 5.3.3 Closely Spaced Modes 110 5.3.4 Model Reduction (SEREP) 114 5.3.5 Discrete Time Representations 116 5.3.6 Simulation of OMA Responses 119 References 121 6 Random Vibrations 123 6.1 General Inputs 123 6.1.1 Linear Systems 123 6.1.2 Spectral Density 125 6.1.3 SISO Fundamental Theorem 128 6.1.4 MIMO Fundamental Theorem 129 6.2 White Noise Inputs 130 6.2.1 Concept of White Noise 130 6.2.2 Decomposition in Time Domain 131 6.2.3 Decomposition in Frequency Domain 134 6.2.4 Zeroes of the Spectral Density Matrix 137 6.2.5 Residue Form 139 6.2.6 Approximate Residue Form 140 6.3 Uncorrelated Modal Coordinates 143 6.3.1 Concept of Uncorrelated Modal Coordinates 143 6.3.2 Decomposition in Time Domain 144 6.3.3 Decomposition in Frequency Domain 145 References 147 7 Measurement Technology 149 7.1 Test Planning 149 7.1.1 Test Objectives 149 7.1.2 Field Visit and Site Inspection 150 7.1.3 Field Work Preparation 150 7.1.4 Field Work 151 7.2 Specifying Dynamic Measurements 152 7.2.1 General Considerations 152 7.2.2 Number and Locations of Sensors 154 7.2.3 Sampling Rate 158 7.2.4 Length of Time Series 159 7.2.5 Data Sets and References 160 7.2.6 Expected Vibration Level 162 7.2.7 Loading Source Correlation and Artificial Excitation 164 7.3 Sensors and Data Acquisition 168 7.3.1 Sensor Principles 168 7.3.2 Sensor Characteristics 169 7.3.3 The Piezoelectric Accelerometer 173 7.3.4 Sensors Used in Civil Engineering Testing 175 7.3.5 Data Acquisition 179 7.3.6 Antialiasing 182 7.3.7 System Measurement Range 182 7.3.8 Noise Sources 183 7.3.9 Cabled or Wireless Sensors? 187 7.3.10 Calibration 188 7.3.11 Noise Floor Estimation 191 7.3.12 Very Low Frequencies and Influence of Tilt 194 7.4 Data Quality Assessment 196 7.4.1 Data Acquisition Settings 196 7.4.2 Excessive Noise from External Equipment 197 7.4.3 Checking the Signal-to-Noise Ratio 197 7.4.4 Outliers 197 7.5 Chapter Summary – Good Testing Practice 198 References 199 8 Signal Processing 201 8.1 Basic Preprocessing 201 8.1.1 Data Quality 202 8.1.2 Calibration 202 8.1.3 Detrending and Segmenting 203 8.2 Signal Classification 204 8.2.1 Operating Condition Sorting 204 8.2.2 Stationarity 205 8.2.3 Harmonics 206 8.3 Filtering 208 8.3.1 Digital Filter Main Types 209 8.3.2 Two Averaging Filter Examples 210 8.3.3 Down-Sampling and Up-Sampling 212 8.3.4 Filter Banks 213 8.3.5 FFT Filtering 213 8.3.6 Integration and Differentiation 214 8.3.7 The OMA Filtering Principles 216 8.4 Correlation Function Estimation 218 8.4.1 Direct Estimation 219 8.4.2 Biased Welch Estimate 221 8.4.3 Unbiased Welch Estimate (Zero Padding) 222 8.4.4 Random Decrement 224 8.5 Spectral Density Estimation 229 8.5.1 Direct Estimation 229 8.5.2 Welch Estimation and Leakage 229 8.5.3 Random Decrement Estimation 232 8.5.4 Half Spectra 233 8.5.5 Correlation Tail and Tapering 233 References 237 9 Time Domain Identification 239 9.1 Common Challenges in Time Domain Identification 240 9.1.1 Fitting the Correlation Functions (Modal Participation) 240 9.1.2 Seeking the Best Conditions (Stabilization Diagrams) 242 9.2 AR Models and Poly Reference (PR) 242 9.3 ARMA Models 244 9.4 Ibrahim Time Domain (ITD) 248 9.5 The Eigensystem Realization Algorithm (ERA) 251 9.6 Stochastic Subspace Identification (SSI) 254 References 258 10 Frequency-Domain Identification 261 10.1 Common Challenges in Frequency-Domain Identification 262 10.1.1 Fitting the Spectral Functions (Modal Participation) 262 10.1.2 Seeking the Best Conditions (Stabilization Diagrams) 263 10.2 Classical Frequency-Domain Approach (Basic Frequency Domain) 265 10.3 Frequency-Domain Decomposition (FDD) 266 10.3.1 FDD Main Idea 266 10.3.2 FDD Approximations 267 10.3.3 Mode Shape Estimation 269 10.3.4 Pole Estimation 271 10.4 ARMA Models in Frequency Domain 275 References 278 11 Applications 281 11.1 Some Practical Issues 281 11.1.1 Modal Assurance Criterion (MAC) 282 11.1.2 Stabilization Diagrams 282 11.1.3 Mode Shape Merging 283 11.2 Main Areas of Application 284 11.2.1 OMA Results Validation 284 11.2.2 Model Validation 285 11.2.3 Model Updating 285 11.2.4 Structural Health Monitoring 288 11.3 Case Studies 291 11.3.1 Tall Building 292 11.3.2 Long Span Bridge 297 11.3.3 Container Ship 301 References 306 12 Advanced Subjects 307 12.1 Closely Spaced Modes 307 12.1.1 Implications for the Identification 308 12.1.2 Implications for Modal Validation 308 12.2 Uncertainty Estimation 309 12.2.1 Repeated Identification 309 12.2.2 Covariance Matrix Estimation 310 12.3 Mode Shape Expansion 311 12.3.1 FE Mode Shape Subspaces 311 12.3.2 FE Mode Shape Subspaces Using SEREP 312 12.3.3 Optimizing the Number of FE Modes (LC Principle) 313 12.4 Modal Indicators and Automated Identification 315 12.4.1 Oversized Models and Noise Modes 315 12.4.2 Generalized Stabilization and Modal Indicators 315 12.4.3 Automated OMA 318 12.5 Modal Filtering 319 12.5.1 Modal Filtering in Time Domain 319 12.5.2 Modal Filtering in Frequency Domain 320 12.5.3 Generalized Operating Deflection Shapes (ODS) 320 12.6 Mode Shape Scaling 320 12.6.1 Mass Change Method 321 12.6.2 Mass-Stiffness Change Method 322 12.6.3 Using the FEM Mass Matrix 323 12.7 Force Estimation 323 12.7.1 Inverting the FRF Matrix 324 12.7.2 Modal Filtering 324 12.8 Estimation of Stress and Strain 324 12.8.1 Stress and Strain from Force Estimation 324 12.8.2 Stress and Strain from Mode Shape Expansion 325 References 325 Appendix A Nomenclature and Key Equations 327 Appendix B Operational Modal Testing of the Heritage Court Tower 335 B.1 Introduction 335 B.2 Description of the Building 335 B.3 Operational Modal Testing 336 B.3.1 Vibration Data Acquisition System 338 B.4 Vibration Measurements 338 B.4.1 Test Setups 341 B.4.2 Test Results 341 B.5 Analysis of the HCT Cases 342 B.5.1 FDD Modal Estimation 342 B.5.2 SSI Modal Estimation 343 B.5.3 Modal Validation 343 References 346 Appendix C Dynamics in Short 347 C.1 Basic Equations 347 C.2 Basic Form of the Transfer and Impulse Response Functions 348 C.3 Free Decays 348 C.4 Classical Form of the Transfer and Impulse Response Functions 349 C.5 Complete Analytical Solution 350 C.6 Eigenvector Scaling 351 C.7 Closing Remarks 351 References 352 Index 353

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Book SynopsisProvides the basics of spacecraft orbital dynamics plus attitude dynamics and control, using vectrix notation Spacecraft Dynamics and Control: An Introduction presents the fundamentals of classical control in the context of spacecraft attitude control.Trade Review“In conclusion, this book covers a broad range of areas – including some more in-depth content (stabilisation techniques, practical design issues) – and is best used as an introductory text to the field for latter year undergraduates.” (The Aeronautical Journal, 1 November 2014) “Overall, this book provides a good, comprehensive examination of the fundamentals of translational and rotational dynamics, determination, and control of spacecraft. Summing Up: Recommended. All academic and professional aerospace engineering collections.” (Choice, 1 September 2013)Table of ContentsPreface xvii 1 Kinematics 1 1.1 Physical Vectors 1 1.2 Reference Frames and Physical Vector Coordinates 6 1.3 Rotation Matrices 11 1.4 Derivatives of Vectors 32 1.5 Velocity and Acceleration 41 1.6 More Rigorous Definition of Angular Velocity 42 Notes 44 References 45 2 Rigid Body Dynamics 47 2.1 Dynamics of a Single Particle 47 2.2 Dynamics of a System of Particles 49 2.3 Rigid Body Dynamics 52 2.4 The Inertia Matrix 56 2.5 Kinetic Energy of a Rigid Body 60 Notes 63 References 63 3 The Keplerian Two-Body Problem 65 3.1 Equations of Motion 65 3.2 Constants of the Motion 67 3.3 Shape of a Keplerian Orbit 69 3.4 Kepler’s Laws 80 3.5 Time of Flight 83 3.6 Orbital Elements 89 3.7 Orbital Elements given Position and Velocity 92 3.8 Position and Velocity given Orbital Elements 94 Notes 98 References 98 4 Preliminary Orbit Determination 99 4.1 Orbit Determination from Three Position Vectors 99 4.2 Orbit Determination from Three Line-of-Sight Vectors 103 4.3 Orbit Determination from Two Position Vectors and Time (Lambert’s Problem) 109 Notes 114 References 114 5 Orbital Maneuvers 115 5.1 Simple Impulsive Maneuvers 115 5.2 Coplanar Maneuvers 116 5.3 Plane Change Maneuvers 123 5.4 Combined Maneuvers 125 5.5 Rendezvous 127 Notes 128 Reference 128 6 Interplanetary Trajectories 129 6.1 Sphere of Influence 129 6.2 Interplanetary Hohmann Transfers 133 6.3 Patched Conics 137 6.4 Planetary Flyby 143 6.5 Planetary Capture 145 Notes 146 References 147 7 Orbital Perturbations 149 7.1 Special Perturbations 150 7.1.1 Cowell’s Method 151 7.2 General Perturbations 154 7.3 Gravitational Perturbations due to a Non-Spherical Primary Body 156 7.4 Effect of J2 on the Orbital Elements 164 7.5 Special Types of Orbits 168 7.6 Small Impulse Form of the Gauss Variational Equations 169 7.7 Derivation of the Remaining Gauss Variational Equations 171 Notes 180 References 181 8 Low Thrust Trajectory Analysis and Design 183 8.1 Problem Formulation 183 8.2 Coplanar Circle to Circle Transfers 184 8.3 Plane Change Maneuver 186 Notes 188 References 188 9 Spacecraft Formation Flying 189 9.1 Mathematical Description 190 9.2 Relative Motion Solutions 194 9.3 Special Types of Relative Orbits 203 Notes 207 Reference 207 10 The Restricted Three-Body Problem 209 10.1 Formulation 209 10.2 The Lagrangian Points 212 10.3 Stability of the Lagrangian Points 214 10.4 Jacobi’s Integral 215 Notes 218 References 218 11 Introduction to Spacecraft Attitude Stabilization 219 11.1 Introduction to Control Systems 220 11.2 Overview of Attitude Representation and Kinematics 222 11.3 Overview of Spacecraft Attitude Dynamics 223 12 Disturbance Torques on a Spacecraft 227 12.1 Magnetic Torque 227 12.2 Solar Radiation Pressure Torque 228 12.3 Aerodynamic Torque 230 12.4 Gravity-Gradient Torque 231 Notes 234 Reference 234 13 Torque-Free Attitude Motion 235 13.1 Solution for an Axisymmetric Body 235 13.2 Physical Interpretation of the Motion 242 Notes 245 References 245 14 Spin Stabilization 247 14.1 Stability 247 14.2 Spin Stability of Torque-Free Motion 249 14.3 Effect of Internal Energy Dissipation 252 Notes 253 References 253 15 Dual-Spin Stabilization 255 15.1 Equations of Motion 255 15.2 Stability of Dual-Spin Torque-Free Motion 257 15.3 Effect of Internal Energy Dissipation 259 Notes 266 References 266 16 Gravity-Gradient Stabilization 267 16.1 Equations of Motion 268 16.2 Stability Analysis 272 Notes 277 References 277 17 Active Spacecraft Attitude Control 279 17.1 Attitude Control for a Nominally Inertially Fixed Spacecraft 280 17.2 Transfer Function Representation of a System 281 17.3 System Response to an Impulsive Input 282 17.4 Block Diagrams 284 17.5 The Feedback Control Problem 286 17.6 Typical Control Laws 289 17.7 Time-Domain Specifications 292 17.8 Factors that Modify the Transient Behavior 308 17.9 Steady-State Specifications and System Type 311 JWST251-FM JWST251-De-Ruiter Printer: Yet to Come November 2, 2012 14:18 Trim: 244mm × 168mm viii Contents 2.4 The Inertia Matrix 56 2.4.1 A Parallel Axis Theorem 57 2.4.2 A Rotational Transformation Theorem 58 2.4.3 Principal Axes 59 2.5 Kinetic Energy of a Rigid Body 60 Notes 63 References 63 3 The Keplerian Two-Body Problem 65 3.1 Equations of Motion 65 3.2 Constants of the Motion 67 3.2.1 Orbital Angular Momentum 67 3.2.2 Orbital Energy 67 3.2.3 The Eccentricity Vector 68 3.3 Shape of a Keplerian Orbit 69 3.3.1 Perifocal Coordinate System 72 3.4 Kepler’s Laws 80 3.5 Time of Flight 83 3.5.1 Circular Orbits 83 3.5.2 Elliptical Orbits 84 3.5.3 Parabolic Orbits 88 3.5.4 Hyperbolic Orbits 89 3.6 Orbital Elements 89 3.6.1 Heliocentric-Ecliptic Coordinate System 89 3.6.2 Geocentric-Equatorial Coordinate System 90 3.7 Orbital Elements given Position and Velocity 92 3.8 Position and Velocity given Orbital Elements 94 Notes 98 References 98 4 Preliminary Orbit Determination 99 4.1 Orbit Determination from Three Position Vectors 99 4.2 Orbit Determination from Three Line-of-Sight Vectors 103 4.3 Orbit Determination from Two Position Vectors and Time (Lambert’s Problem) 109 4.3.1 The Lagrangian Coefficients 110 Notes 114 References 114 5 Orbital Maneuvers 115 5.1 Simple Impulsive Maneuvers 115 5.2 Coplanar Maneuvers 116 5.2.1 Hohmann Transfers 118 5.2.2 Bi-Elliptic Transfers 120 5.3 Plane Change Maneuvers 123 FOR SCREEN VIEWING IN DART ONLY JWST251-FM JWST251-De-Ruiter Printer: Yet to Come November 2, 2012 14:18 Trim: 244mm × 168mm Contents ix 5.4 Combined Maneuvers 125 5.5 Rendezvous 127 Notes 128 Reference 128 6 Interplanetary Trajectories 129 6.1 Sphere of Influence 129 6.2 Interplanetary Hohmann Transfers 133 6.3 Patched Conics 137 6.3.1 Departure Hyperbola 139 6.3.2 Arrival Hyperbola 141 6.4 Planetary Flyby 143 6.5 Planetary Capture 145 Notes 146 References 147 7 Orbital Perturbations 149 7.1 Special Perturbations 150 7.1.1 Cowell’s Method 151 7.1.2 Encke’s Method 151 7.2 General Perturbations 154 7.3 Gravitational Perturbations due to a Non-Spherical Primary Body 156 7.3.1 The Perturbative Force Per Unit Mass Due to J 2 163 7.4 Effect of J 2 on the Orbital Elements 164 7.5 Special Types of Orbits 168 7.5.1 Sun-Synchronous Orbits 168 7.5.2 Molniya Orbits 169 7.6 Small Impulse Form of the Gauss Variational Equations 169 7.7 Derivation of the Remaining Gauss Variational Equations 171 Notes 180 References 181 8 Low Thrust Trajectory Analysis and Design 183 8.1 Problem Formulation 183 8.2 Coplanar Circle to Circle Transfers 184 8.3 Plane Change Maneuver 186 Notes 188 References 188 9 Spacecraft Formation Flying 189 9.1 Mathematical Description 190 9.2 Relative Motion Solutions 194 9.2.1 Out-of-Plane Motion 195 9.2.2 In-Plane Motion 195 FOR SCREEN VIEWING IN DART ONLY JWST251-FM JWST251-De-Ruiter Printer: Yet to Come November 2, 2012 14:18 Trim: 244mm × 168mm x Contents 9.2.3 Alternative Description for In-Plane Relative Motion 198 9.2.4 Further Examination of In-Plane Motion 200 9.2.5 Out-of-Plane Motion - Revisited 202 9.3 Special Types of Relative Orbits 203 9.3.1 Along-Track Orbits 203 9.3.2 Projected Elliptical Orbits 204 9.3.3 Projected Circular Orbits 207 Notes 207 Reference 207 10 The Restricted Three-Body Problem 209 10.1 Formulation 209 10.1.1 Equations of Motion 211 10.2 The Lagrangian Points 212 10.2.1 Case (i) 212 10.2.2 Case (ii) 213 10.3 Stability of the Lagrangian Points 214 10.3.1 Comments 215 10.4 Jacobi’s Integral 215 10.4.1 Hill’s Curves 216 10.4.2 Comments on Figure 10.5 218 Notes 218 References 218 11 Introduction to Spacecraft Attitude Stabilization 219 11.1 Introduction to Control Systems 220 11.1.1 Open-loop versus Closed-loop 220 11.1.2 Typical Feedback Control Structure 221 11.2 Overview of Attitude Representation and Kinematics 222 11.3 Overview of Spacecraft Attitude Dynamics 223 11.3.1 Properties of the Inertia Matrix - A Summary 224 12 Disturbance Torques on a Spacecraft 227 12.1 Magnetic Torque 227 12.2 Solar Radiation Pressure Torque 228 12.3 Aerodynamic Torque 230 12.4 Gravity-Gradient Torque 231 Notes 234 Reference 234 13 Torque-Free Attitude Motion 235 13.1 Solution for an Axisymmetric Body 235 13.2 Physical Interpretation of the Motion 242 Notes 245 References 245 FOR SCREEN VIEWING IN DART ONLY JWST251-FM JWST251-De-Ruiter Printer: Yet to Come November 2, 2012 14:18 Trim: 244mm × 168mm Contents xi 14 Spin Stabilization 247 14.1 Stability 247 14.2 Spin Stability of Torque-Free Motion 249 14.3 Effect of Internal Energy Dissipation 252 14.3.1 Energy Sink Hypothesis 252 14.3.2 Major Axis Rule 253 Notes 253 References 253 15 Dual-Spin Stabilization 255 15.1 Equations of Motion 255 15.2 Stability of Dual-Spin Torque-Free Motion 257 15.3 Effect of Internal Energy Dissipation 259 Notes 266 References 266 16 Gravity-Gradient Stabilization 267 16.1 Equations of Motion 268 16.2 Stability Analysis 272 16.2.1 Pitch Motion 272 16.2.2 Roll-Yaw Motion 273 16.2.3 Combined Pitch and Roll/Yaw 277 Notes 277 References 277 17 Active Spacecraft Attitude Control 279 17.1 Attitude Control for a Nominally Inertially Fixed Spacecraft 280 17.2 Transfer Function Representation of a System 281 17.3 System Response to an Impulsive Input 282 17.4 Block Diagrams 284 17.5 The Feedback Control Problem 286 17.6 Typical Control Laws 289 17.7 Time-Domain Specifications 292 17.8 Factors that Modify the Transient Behavior 308 17.9 Steady-State Specifications and System Type 311 17.10 Effect of Disturbances 316 17.11 Actuator Limitations 319 Notes 320 References 320 18 Routh’s Stability Criterion 321 18.1 Proportional-Derivative Control with Actuator Dynamics 322 18.2 Active Dual-Spin Stabilization 325 Notes 330 References 330 19 The Root Locus 331 19.1 Rules for Constructing the Root Locus 332 19.2 PD Attitude Control with Actuator Dynamics - Revisited 341 19.3 Derivation of the Rules for Constructing the Root Locus 345 Notes 353 References 353 20 Control Design by the Root Locus Method 355 20.1 Typical Types of Controllers 357 20.2 PID Design for Spacecraft Attitude Control 361 Notes 369 References 369 21 Frequency Response 371 21.1 Frequency Response and Bode Plots 372 21.2 Low-Pass Filter Design 383 Notes 385 References 385 22 Relative Stability 387 22.1 Polar Plots 387 22.2 Nyquist Stability Criterion 390 22.3 Stability Margins 399 Notes 410 References 410 23 Control Design in the Frequency Domain 411 23.1 Feedback Control Problem - Revisited 416 23.2 Control Design 422 23.3 Example - PID Design for Spacecraft Attitude Control 430 Notes 435 References 435 24 Nonlinear Spacecraft Attitude Control 437 24.1 State-Space Representation of the Spacecraft Attitude Equations 437 24.2 Stability Definitions 440 24.3 Stability Analysis 442 24.4 LaSalle’s Theorem 448 24.5 Spacecraft Attitude Control with Quaternion and Angular Rate Feedback 451 Notes 456 References 457 25 Spacecraft Navigation 459 25.1 Review of Probability Theory 459 25.2 Batch Approaches for Spacecraft Attitude Estimation 467 25.3 The Kalman Filter 477 Notes 496 References 497 26 Practical Spacecraft Attitude Control Design Issues 499 26.1 Attitude Sensors 499 26.2 Attitude Actuators 506 26.3 Control Law Implementation 511 26.4 Unmodeled Dynamics 523 Notes 539 References Appendix A: Review of Complex Variables 541 Appendix B: Numerical Simulation of Spacecraft Motion 557 Notes 561 Reference 561 Index 563

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Book SynopsisTompkins/White/Bozer/Tanchoco is the leading facilities planning book on the market, today. Its blending of breadth and depth of coverage are unmatched. Thousands of engineering students and practitioners have used the book to prepare them to design new facilities and expand or renovate existing facilities. The book combines applied aspects with proven quantitative methodologies. It carries the reader through the entire process of planning facilities, regardless of the application settings for the facilities.Table of ContentsPart One DEFINING REQUIREMENTS 1 Chapter One INTRODUCTION 3 1.1 Facilities Planning Defined 3 1.2 Significance of Facilities Planning 9 1.3 Objectives of Facilities Planning 12 1.4 Facilities Planning Process 13 1.5 Strategic Facilities Planning 18 1.6 Developing Facilities Planning Strategies 21 1.7 Examples of Inadequate Planning 24 1.8 Summary 26 References 27 Problems 28 Chapter Two PRODUCT, PROCESS, AND SCHEDULE DESIGN 30 2.1 Introduction 30 2.2 Product Design 32 2.3 Process Design 36 2.4 Schedule Design 47 2.5 Facilities Design 63 2.6 Summary 70 References 72 Problems 74 Chapter Three FLOW SYSTEMS, ACTIVITY RELATIONSHIPS, AND SPACE REQUIREMENTS 83 3.1 Introduction 83 3.2 Flow Systems 84 3.3 Material Flow System 88 3.4 Departmental Planning 97 3.5 Activity Relationships 113 3.6 Space Requirements 119 3.7 Summary 129 References 129 Problems 131 Chapter Four PERSONNEL REQUIREMENTS 137 4.1 Introduction 137 4.2 The Employee–Facility Interface 138 4.3 Restrooms 146 4.4 Food Services 151 4.5 Health Services 156 4.6 Barrier-Free Compliance 157 4.7 Office Facility Planning 160 4.8 Summary 170 References 170 Problems 171 Part Two DEVELOPING ALTERNATIVES: CONCEPTS AND TECHNIQUES 173 Chapter Five MATERIAL HANDLING 175 5.1 Introduction 175 5.2 Scope and Definitions of Material Handling 176 5.3 Material Handling Principles 179 5.4 Designing Material Handling Systems 181 5.5 Unit Load Design 186 5.6 Material Handling Equipment 204 5.7 Estimating Material Handling Costs 209 5.8 Safety Considerations 210 5.9 Summary 212 References 212 Problems 213 Appendix 5B Material Handling Equipment 215 Chapter Six LAYOUT PLANNING MODELS AND DESIGN ALGORITHMS 292 6.1 Introduction 292 6.2 Basic Layout Types 294 6.3 Layout Procedures 296 6.4 Algorithmic Approaches 302 6.5 Department Shapes and Mail Aisles 342 6.6 Simulated Annealing and Genetic Algorithms 344 6.7 Multi-Floor Facility Layout 351 6.8 Commercial Facility Layout Packages 354 6.9 The Impact of Change 355 6.10 Developing Layout Alternatives 362 6.11 Summary 363 References 366 Problems 369 Part Three FACILITY DESIGN FOR VARIOUS FACILITIES FUNCTIONS 383 Chapter Seven WAREHOUSE OPERATIONS 385 7.1 Introduction 385 7.2 Missions of a Warehouse 387 7.3 Functions in the Warehouse 389 7.4 Receiving and Shipping Operations 391 7.5 Dock Locations 414 7.6 Storage Operations 415 7.7 Order Picking Operations 432 7.8 Summary 443 References 443 Problems 444 Chapter Eight MANUFACTURING SYSTEMS 448 8.1 Introduction 448 8.2 Fixed Automation Systems 451 8.3 Flexible Manufacturing Systems 453 8.4 Single-Stage Multimachine Systems 456 8.5 Reduction in Work-in-Process 458 8.6 Just-in-Time Manufacturing 459 8.7 Facilities Planning Trends 467 8.8 Summary 468 References 469 Problems 470 Chapter Nine FACILITIES SYSTEMS 473 9.1 Introduction 473 9.2 Structural System Performance 474 9.3 Enclosure Systems 477 9.4 Atmospheric Systems 481 9.5 Electrical and Lighting Systems 490 9.6 Life Safety Systems 500 9.7 Sanitation Systems 505 9.8 Building Automation Systems 508 9.9 Facilities Maintenance Management Systems 510 9.10 Summary 510 References 511 Problems 511 Part Four DEVELOPING ALTERNATIVES: QUANTITATIVE APPROACHES 515 Chapter Ten QUANTITATIVE FACILITIES PLANNING MODELS 517 10.1 Introduction 517 10.2 Facility Location Models 518 10.3 Special Facility Layout Models 569 10.4 Machine Layout Models 577 10.5 Conventional Storage Models 580 10.6 Automated Storage and Retrieval Systems 608 10.7 Order Picking Systems 627 10.8 Fixed-Path Material Handling Models 642 10.9 Waiting Line Models 671 10.10 Simulation Models 701 10.11 Summary 705 References 705 Problems 709 Part Five EVALUATING, SELECTING, PREPARING, PRESENTING, IMPLEMENTING, AND MAINTAINING 743 Chapter Eleven EVALUATING AND SELECTING THE FACILITIES PLAN 745 11.1 Introduction 745 11.2 Evaluating Facilities Plans 748 11.3 Selecting the Facilities Plan 802 11.4 Summary 803 References 803 Problems 804 Chapter Twelve PREPARING, PRESENTING, IMPLEMENTING, AND MAINTAINING THE FACILITIES PLAN 807 12.1 Introduction 807 12.2 Preparing the Facilities Plan 807 12.3 Presenting the Facilities Plan 831 12.4 Implementing the Facilities Plan 834 12.5 Maintaining the Facilities Plan 836 12.6 Summary 839 References 839 Problems 840 INDEX 841

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Book SynopsisAn understanding of the extended finite element method (XFEM) is critical for users, developers, researchers, and engineers working on industrial products. The first guide to the foundations of XFEM and its implementation, this book demystifies the theory behind this method and makes it accessible to anyone with previous knowledge of FEM.Table of ContentsList of Contributors xi Preface xiii Acknowledgments xv 1 Introduction 1 1.1 The Finite Element Method 2 1.2 Suitability of the Finite Element Method 9 1.3 Some Limitations of the FEM 11 1.4 The Idea of Enrichment 16 1.5 Conclusions 19 2 A Step-by-Step Introduction to Enrichment 23 2.1 History of Enrichment for Singularities and Localized Gradients 25 2.2 Weak Discontinuities for One-dimensional Problems 38 2.3 Strong Discontinuities for One-dimensional Problem 58 2.4 Conclusions 61 3 Partition of Unity Revisited 67 3.1 Completeness, Consistency, and Reproducing Conditions 67 3.2 Partition of Unity 68 3.3 Enrichment 69 3.4 Numerical Examples 86 3.5 Conclusions 95 4 Advanced Topics 99 4.1 Size of the Enrichment Zone 99 4.2 Numerical Integration 100 4.3 Blending Elements and Corrections 108 4.4 Preconditioning Techniques 116 5 Applications 125 5.1 Linear Elastic Fracture in Two Dimensions with XFEM 125 5.2 Numerical Enrichment for Anisotropic Linear Elastic Fracture Mechanics 130 5.3 Creep and Crack Growth in Polycrystals 133 5.4 Fatigue Crack Growth Simulations 138 5.5 Rectangular Plate with an Inclined Crack Subjected to Thermo-Mechanical Loading 140 6 Recovery-Based Error Estimation and Bounding in XFEM 145 6.1 Introduction 145 6.2 Error Estimation in the Energy Norm. The ZZ Error Estimator 147 6.3 Recovery-based Error Estimation in XFEM 151 6.4 Recovery Techniques in Error Bounding. Practical Error Bounds. 174 6.5 Error Estimation in Quantities of Interest 179 7 Φ-FEM: An Efficient Simulation Tool Using Simple Meshes for Problems in Structure Mechanics and Heat Transfer 191 7.1 Introduction 191 7.2 Linear Elasticity 194 7.3 Linear Elasticity with Multiple Materials 204 7.4 Linear Elasticity with Cracks 208 7.5 Heat Equation 212 7.6 Conclusions and Perspectives 214 8 eXtended Boundary Element Method (XBEM) for Fracture Mechanics and Wave Problems 217 8.1 Introduction 217 8.2 Conventional BEM Formulation 218 8.3 Shortcomings of the Conventional Formulations 226 8.4 Partition of Unity BEM Formulation 228 8.5 XBEM for Accurate Fracture Analysis 228 8.6 XBEM for ShortWave Simulation 235 8.7 Conditioning and its Control 243 8.8 Conclusions 245 9 Combined Extended Finite Element and Level Set Method (XFE-LSM) for Free Boundary Problems 249 9.1 Motivation 249 9.2 The Level Set Method 250 9.3 Biofilm Evolution 256 9.4 Conclusion 269 10 XFEM for 3D Fracture Simulation 273 10.1 Introduction 273 10.2 Governing Equations 274 10.3 XFEM Enrichment Approximation 275 10.4 Vector Level Set 280 10.5 Computation of Stress Intensity Factor 282 10.6 Numerical Simulations 288 10.7 Summary 300 11 XFEM Modeling of Cracked Elastic-Plastic Solids 303 11.1 Introduction 303 11.2 Conventional von Mises Plasticity 303 11.3 Strain Gradient Plasticity 312 11.4 Conclusions 323 12 An Introduction to Multiscale analysis with XFEM 329 12.1 Introduction 329 12.2 Molecular Statics 330 12.3 Hierarchical Multiscale Models of Elastic Behavior -- The Cauchy-Born Rule 336 12.4 Current Multiscale Analysis -- The Bridging Domain Method 338 12.5 The eXtended Bridging Domain Method 340 References 344 Index 345

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Book SynopsisDescribes the rotordynamic considerations that are important to the successful design or troubleshooting of a turbomachine.Table of ContentsIntroduction. Rotordynamic Considerations in Turbomachinery Design. Torsional Vibration Analysis. Critical Speeds and Response to Imbalance. Rotor Balancing in Turbomachinery. Bearings and Seals. Rotordynamic Instability in Turbomachinery. Measurements.

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Book SynopsisA multi-disciplinary, multi-industry overview of microbiologically influenced corrosion, with strategies for diagnosis and control or prevention Microbiologically Influenced Corrosion helps engineers and scientists understand and combat the costly failures that occur due to microbiologically influenced corrosion (MIC).Trade Review"...strongly recommended for engineers and scientists that design components that might be exposed to MIC…would also make an excellent text…" (Journal of Metals Online, October 23, 2007)Table of Contents1. Biofilm Formation. 2. Causative Organisms and Possible Mechanisms. 3. Diagnosing MIC. 4. Electrochemical Techniques Applied to MIC. 5. Approaches for Monitoring MIC. 6. Impact of Alloying Elements to Susceptibility of MIC. 7. Design Features that Determine MIC. 8. Case Histories. 9. MIC of Non-metallics. 10. Strategies to Prevent or Mitigate MIC.

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Book SynopsisEssential project management forms aligned to the PMBOK GuideSixth Edition A Project Manager''s Book of Forms is an essential companion to the Project Management Institute''s A Guide to the Project Management Body of Knowledge. Packed with ready-made forms for managing every stage in any project, this book offers both new and experienced project managers an invaluable resource for thorough documentation and repeatable processes. Endorsed by PMI and aligned with the PMBOK Guide, these forms cover all aspects of initiating, planning, executing, monitoring and controlling, and closing; each form can be used as-is directly from the book, or downloaded from the companion website and tailored to your project''s unique needs. This new third edition has been updated to align with the newest PMBOK Guide, and includes forms for agile, the PMI Talent Triangle, technical project management, leadership, straTable of ContentsAcknowledgments vii Introduction ix New for this Edition ix Audience ix Organization x 1 Initiating Forms 1 1.0 Initiating Process Group 1 1.1 Project Charter 2 1.2 Assumption Log 9 1.3 Stakeholder Register 12 1.4 Stakeholder Analysis 15 2 Planning Forms 17 2.0 Planning Process Group 17 2.1 Project Management Plan 20 2.2 Change Management Plan 25 2.3 Project Roadmap 28 2.4 Scope Management Plan 30 2.5 Requirements Management Plan 33 2.6 Requirements Documentation 37 2.7 Requirements Traceability Matrix 40 2.8 Project Scope Statement 45 2.9 Work Breakdown Structure 49 2.10 WBS Dictionary 52 2.11 Schedule Management Plan 56 2.12 Activity List 59 2.13 Activity Attributes 62 2.14 Milestone List 65 2.15 Network Diagram 67 2.16 Duration Estimates 70 2.17 Duration Estimating Worksheet 73 2.18 Project Schedule 78 2.19 Cost Management Plan 82 2.20 Cost Estimates 85 2.21 Cost Estimating Worksheet 88 2.22 Cost Baseline 93 2.23 Quality Management Plan 95 2.24 Quality Metrics 99 2.25 Responsibility Assignment Matrix 101 2.26 Resource Management Plan 104 2.27 Team Charter 109 2.28 Resource Requirements 113 2.29 Resource Breakdown Structure 116 2.30 Communications Management Plan 118 2.31 Risk Management Plan 121 2.32 Risk Register 128 2.33 Risk Report 131 2.34 Probability and Impact Assessment 137 2.35 Probability and Impact Matrix 142 2.36 Risk Data Sheet 144 2.37 Procurement Management Plan 147 2.38 Procurement Strategy 152 2.39 Source Selection Criteria 155 2.40 Stakeholder Engagement Plan 158 3 Executing Forms 163 3.0 Executing Process Group 163 3.1 Issue Log 165 3.2 Decision Log 168 3.3 Change Request 170 3.4 Change Log 175 3.5 Lessons Learned Register 178 3.6 Quality Audit 181 3.7 Team Performance Assessment 184 4 Monitoring and Controlling Forms 189 4.0 Monitoring and Controlling Process Group 189 4.1 Team Member Status Report 191 4.2 Project Status Report 196 4.3 Variance Analysis 202 4.4 Earned Value Analysis 206 4.5 Risk Audit 209 4.6 Contractor Status Report 213 4.7 Procurement Audit 218 4.8 Contract Closeout Report 222 4.9 Product Acceptance Form 226 5 Closing 229 5.0 Closing Process Group 229 5.1 Lessons Learned Summary 229 5.2 Project or Phase Closeout 235 6 Agile 239 6.1 Product Vision 240 6.2 Product Backlog 242 6.3 Release Plan 244 6.4 Retrospective 246 Index 249

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Book SynopsisThe second edition of the text that offers an introduction to the principles of solar cells and LEDs, revised and updated The revised and updated second edition of Principles of Solar Cells, LEDs and Related Devices offers an introduction to the physical concepts required for a comprehensive understanding of p-n junction devices, light emitting diodes and solar cells. The author a noted expert in the field presents information on the semiconductor and junction device fundamentals and extends it to the practical implementation of semiconductors in both photovoltaic and LED devices. In addition, the text offers information on the treatment of a range of important semiconductor materials and device structures including OLED devices and organic solar cells. This second edition contains a new chapter on the quantum mechanical description of the electron that will make the book accessible to students in any engineering discipline. The text also includes a neTable of ContentsIntroduction xi Acknowledgements xv 1 Introduction to Quantum Mechanics 1 1.1 Introduction 2 1.2 The Classical Electron 2 1.3 Two Slit Electron Experiment 4 1.4 The Photoelectric Effect 7 1.5 Wave Packets and Uncertainty 10 1.6 The Wavefunction 12 1.7 The Schrödinger Equation 14 1.8 The Electron in a One-Dimensional Well 18 1.9 Electron Transmission and Reflection at Potential Energy Step 24 1.10 Expectation Values 26 1.11 Spin 26 1.12 The Pauli Exclusion Principle 29 1.13 Summary 30 Further Reading 32 Problems 33 2 Semiconductor Physics 37 2.1 Introduction 38 2.2 The Band Theory of Solids 38 2.3 Bloch Functions 40 2.4 The Kronig–Penney Model 42 2.5 The Bragg Model 47 2.6 Effective Mass 48 2.7 Number of States in a Band 50 2.8 Band Filling 52 2.9 Fermi Energy and Holes 53 2.10 Carrier Concentration 55 2.11 Semiconductor Materials 65 2.12 Semiconductor Band Diagrams 67 2.13 Direct Gap and Indirect Gap Semiconductors 72 2.14 Extrinsic Semiconductors 74 2.15 Carrier Transport in Semiconductors 79 2.16 Equilibrium and Non-Equilibrium Dynamics 83 2.17 Carrier Diffusion and the Einstein Relation 86 2.18 Quasi-Fermi Energies 88 2.19 The Diffusion Equation 91 2.20 Traps and Carrier Lifetimes 94 2.21 Alloy Semiconductors 98 2.22 Summary 100 References 103 Further Reading 103 Problems 105 3 The p–n Junction Diode 111 3.1 Introduction 112 3.2 Diode Current 113 3.3 Contact Potential 117 3.4 The Depletion Approximation 119 3.5 The Diode Equation 127 3.6 Reverse Breakdown and the Zener Diode 139 3.7 Tunnel Diodes 141 3.8 Generation/Recombination Currents 143 3.9 Metal–Semiconductor Junctions 145 3.10 Heterojunctions 156 3.11 Alternating Current (AC) and Transient Behaviour 157 3.12 Summary 159 Further Reading 160 Problems 161 4 Photon Emission and Absorption 165 4.1 Introduction to Luminescence and Absorption 166 4.2 Physics of Light Emission 167 4.3 Simple Harmonic Radiator 169 4.4 Quantum Description 170 4.5 The Exciton 174 4.6 Two-Electron Atoms 176 4.7 Molecular Excitons 184 4.8 Band-to-Band Transitions 186 4.9 Photometric Units 190 4.10 Summary 194 References 195 Further Reading 195 Problems 197 5 p–n Junction Solar Cells 201 5.1 Introduction 202 5.2 Light Absorption 204 5.3 Solar Radiation 207 5.4 Solar Cell Design and Analysis 207 5.5 Thin Solar Cells, G = 0 214 5.6 Thin Solar Cells, G > 0 218 5.7 Solar Cell Generation as a Function of Depth 220 5.8 Surface Recombination Reduction 224 5.9 Solar Cell Efficiency 225 5.10 Silicon Solar Cell Technology: Wafer Preparation 230 5.11 Silicon Solar Cell Technology: Solar Cell Finishing 233 5.12 Silicon Solar Cell Technology: Advanced Production Methods 237 5.13 Thin-Film Solar Cells: Amorphous Silicon 238 5.14 Telluride/Selenide/Sulphide Thin-Film Solar Cells 245 5.15 High-efficiency Multi-junction Solar Cells 247 5.16 Concentrating Solar Systems 251 5.17 Summary 253 References 254 Further Reading 255 Problems 257 6 Light-Emitting Diodes 265 6.1 Introduction 266 6.2 LED Operation and Device Structures 267 6.3 Emission Spectrum 269 6.4 Non-radiative Recombination 271 6.5 Optical Outcoupling 272 6.6 GaAs LEDs 275 6.7 GaAs1−x Px LEDs 277 6.8 Double Heterojunction Alx Ga1−x As LEDs 278 6.9 AlGaInP LEDs 285 6.10 Ga1−xInxN LEDs 286 6.11 LED Structures for Enhanced Outcoupling and High Lumen Output 294 6.12 Summary 299 References 300 Further Reading 301 Problems 303 7 Organic Semiconductors, OLEDs, and Solar Cells 307 7.1 Introduction to Organic Electronics 308 7.2 Conjugated Systems 309 7.3 Polymer OLEDs 314 7.4 Small-Molecule OLEDs 320 7.5 Anode Materials 323 7.6 Cathode Materials 324 7.7 Hole Injection Layer 325 7.8 Electron Injection Layer 326 7.9 Hole Transport Layer 326 7.10 Electron Transport Layer 328 7.11 Light-Emitting Material Processes 330 7.12 Host Materials 332 7.13 Fluorescent Dopants 334 7.14 Phosphorescent and Thermally Activated Delayed Fluorescence Dopants 335 7.15 Organic Solar Cells 340 7.16 Organic Solar Cell Materials 344 7.17 Summary 349 References 352 Further Reading 352 Problems 353 8 Junction Transistors 359 8.1 Introduction 359 8.2 Bipolar Junction Transistor 360 8.3 Junction Field-Effect Transistor 367 8.4 BJT and JFET Symbols and Applications 371 8.5 Summary 372 Further Reading 373 Problems 375 Appendix 1: Physical Constants 377 Appendix 2: Derivation of the Uncertainty Principle 379 Appendix 3: Derivation of Group Velocity 383 Appendix 4: The Boltzmann Distribution Function 385 Appendix 5: Properties of Semiconductor Materials 391 Index 392

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Book Synopsis

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Book SynopsisCLOUD TECHNOLOGIES Contains a variety of cloud computing technologies and explores how the cloud can enhance business operationsCloud Technologies offers an accessible guide to cloud-based systems and clearly explains how these technologies have changed the way organizations approach and implement their computing infrastructure. The author includes an overview of cloud computing and addresses business-related considerations such as service level agreements, elasticity, security, audits, and practical implementation issues. In addition, the book covers important topics such as automation, infrastructure as code, DevOps, orchestration, and edge computing.Cloud computing fundamentally changes the way organizations think about and implement IT infrastructure. Any manager without a firm grasp of basic cloud concepts is at a huge disadvantage in the modern world. Written for all levels of managers working in IT and other areas, the book explores cost savings andTable of ContentsPreface xiii Acknowledgments xv About the Companion Website xvii 1 What Is Cloud Computing? 1 Why Cloud Computing? 1 Cloud Computing’s Focus 2 Cost Reduction 2 Capacity Planning 4 Organizational Agility 5 How Is Cloud Computing Hosted? 6 Private Cloud Deployment 6 Public Cloud Deployment 6 Hybrid Cloud Deployment 7 What Are the Different Types of Cloud Solutions? 7 Software as a Service (SaaS) 8 Platform as a Service (PaaS) 9 Infrastructure as a Service (IaaS) 10 SaaS versus PaaS versus IaaS: A Review 12 Recovery as a Service (RaaS) 12 What Are General Benefits of Cloud Services? 13 What Are General Disadvantages of Cloud Services? 14 What Is the History Behind Cloud Computing? 14 Historic Perspective of Hardware Related to Cloud Computing 16 Historic Perspective of Software Related to Cloud Computing 17 SOA Explained in Terms of Lego Blocks 18 Summary 20 References 21 Bibliography 21 2 Who Uses the Cloud? 23 Individuals Users 23 Public Cloud Subscription Storage for Individuals 24 Private Cloud Storage (PCS) for Individuals 25 Hosted Personal Cloud Storage Using Third Party Hardware 27 Public Cloud versus Personal Cloud Storage 28 Small and Medium Enterprise (SME) Users 28 How Can Cloud Computing Save SMEs Money? 28 What Cloud Computing Features Appeal to SMEs? 32 SME Cloud Software 32 Accounting Software 32 Human Resources (HR) Software 33 Customer Relationship Management (CRM) 36 Project Management/Task Organization 40 Office Software 42 Data Analytics 44 Social Media 45 Purchasing and Procurement 46 Help Desk and Service Software 47 Enterprise Resource Planning (ERP) 48 Corporate Managers and Users 49 Organizational Users of Cloud Computing 50 PaaS Users 50 IaaS Users 51 File Storage and Backup Users 51 Disaster Recovery Users 51 Big Data Analytics Users 51 Summary 51 References 52 Further Reading 52 Website Resources 52 Accounting Software 52 CRM Software 53 Data Analytics 53 ERP for SMEs 53 Help Desk 53 HR Software 53 Office Software 54 Project Management Tools 54 Purchasing and Procurement 54 Social Media 54 3 What Is Virtualization? 55 Hardware Virtualization 56 Hypervisors 56 Types of Hardware Virtualization 57 Hardware Virtualization Vendors and Products 59 Hardware Virtualization Benefits 60 Operating System Virtualization 62 Operating-System-Level Virtualization (Containerization) 62 Containerization Software 63 Containers versus Virtual Machines 65 Container Cloud Practices 66 Containers as a Service (CaaS) 67 Storage Virtualization 67 DAS (Direct Attached Storage) 67 SAN (Storage Area Networks) 69 NAS (Network Attached Storage) 70 Storage Virtualization Techniques 71 File- Versus Block-Level Virtualization 72 Summary 72 References 72 Further Reading 72 4 Can the Cloud Help Operations? 75 Load Balancing 75 Load Balancing Algorithms 77 Static Load Balancing Algorithms 77 Dynamic Load Balancing Algorithms 78 Cloud Load Balancing Algorithms 79 Hardware Versus Software Load Balancing 81 Cloud-Based Balancing 81 Cloud Load Balancing Versus DNS Load Balancing 82 Scalability and Elasticity 82 Elasticity in Cloud Environments 83 Challenges for Elasticity 84 Learning Curve 84 Response Time 84 Monitoring Elastic Applications 85 Stakeholder Needs 85 Multiple Levels of Cloud Control 85 Security 85 Privacy and Compliance 86 Benefits of Cloud Elasticity 86 Ease of Implementation 86 Failover and Fault Tolerance 86 On-Demand Computing 87 Pay Only for What You Use 87 Standardization of Server Pool 88 Summary 88 References 89 Further Reading 89 5 How Are Clouds Managed? 91 Automation 91 Orchestration 92 Automation Tasks 92 Implementing Orchestration with IaC 93 IaC Example 95 IaC Tools 97 Push Approach 97 Pull Approach 97 Puppet 98 Chef 98 SaltStack 99 Terraform 99 Cloud Provider Resource Management 99 AWS CloudFormation 99 Google Cloud Deployment Manager 100 Azure Resource Manager 101 Access Control for Resource Management Tools 102 Customized Policies 104 APIs and SDKs 105 APIs 105 SaaS APIs 105 PaaS APIs 105 IaaS APIs 105 SDKs 106 SDKs and APIs 106 Cloud Backup and Replication 106 Cloud Backup 107 Cloud Backup Processes 108 Cloud Backup Drawbacks 109 Cloud Backup Vendors 110 Cloud Replication 111 Replication Technologies 112 DRaaS 113 Summary 114 References 115 Further Reading 115 Website Resources 116 Backup Providers 116 DRaaS Providers 116 IaC Providers 117 6 What Are Cloud Business Concerns? 119 Monitoring and Console Tools 119 Resource Consumption Monitoring 120 Planning for Monitoring 121 Cloud Monitoring Tools 121 Monitoring Challenges 123 Cost Monitoring 123 Costs Associated with Zombie Resource Instances 126 Service Level Agreements (SLAs) 128 SLA Sources 129 SLA Components 129 SLA Metrics 130 Other Performance Considerations 133 Performance Failure Penalties 133 SLA Data Ownership Clause 134 Data Ownership 134 Data Location 134 Data Disposition 136 Data Breaches 136 Governmental Access Requests 137 SLA Revisions 138 Transferring SLAs 138 More on SLAs 138 Billing 139 Amazon Billing 140 Third Party Billing Tools 141 Summary 141 References 142 Further Reading 142 Website Resources 143 Cost and Monitoring Software 143 Zombie Instance Management Software 143 7 How Are Business Applications in the Cloud Managed Safely? 145 Cloud Vulnerabilities 145 Cloud Security Architecture 146 IaaS Security Architecture 146 IaaS Resource Misconfiguration 147 IaaS Resource Vulnerabilities 147 IaaS Zombies Vulnerabilities 149 PaaS Security Architecture 149 SaaS Security Architecture 151 Access and Identity Control in the Cloud 152 Identity Governance 153 IAM Considerations for Developers 154 Identity Provisioning 155 Cloud Licenses 156 IAM with Third Party Vendors 156 FIM Benefits 158 FIM Challenges 158 Identity and Access Management Products 159 Identity Management Standards 160 Summary 163 References 164 Bibliography 164 Website Bibliography 165 Identity Management 165 8 What Is Cloud Governance? 167 IT Governance Overview 167 IT Governance Boards 169 IT Governance Frameworks 169 COBIT 2019 170 ITIL (Information Technology Infrastructure Library) 171 AS 8015-2015 172 ISO/IEC 38500:2015 174 CMMI 174 FAIR 174 IT Governance in the Cloud 176 Choosing a Governance Framework 177 Cloud Risk Factors Related to Governance 177 IT Audit Committees 178 IT Auditor 179 IT Controls 179 End-User Controls 181 Shadow IT 183 Acceptable Risk 184 SOA Governance 185 Ensuring Secure Cloud Data 185 Cloud Provider Data Safety Measures 187 Cloud Encryption 187 Symmetric Key Encryption 189 Asymmetric Key Encryption 190 Other Encryption Methods 191 Secure Sockets Layer (SSL) 191 Key Management 194 Key Management System Products 195 Summary 195 References 196 Further Reading 196 9 What Other Services Run in the Cloud? 199 DevOps 199 DevOps Ingredients 200 Ingredient #1: Communication 200 Ingredient #2: Collaboration 201 Ingredient #3: Flow 201 Ingredient #4: Continuous Improvement 202 Ingredient #5: Lean Computing 202 Ingredient #6: Tool Kit 203 Ingredient #7: Quality 203 Cloud-Based Problem-Solving Approaches 204 DMAIC 204 TRIZ 205 Microservices 206 Cloud Database Applications 209 Cloud Data Models 209 Cloud Database Typical Features 211 DBaaS Product Examples 211 Amazon 211 Microsoft 211 Google 211 Other DBaaS Vendors 212 Cloud Analytics Services 212 Microsoft Power BI Service 214 Domo 215 IBM Analytics 215 Tableau 215 Hadoop 216 Hadoop in the Cloud 216 Apache Spark 217 Apache Storm 217 Open Source Private Cloud Software 218 OpenStack 218 OpenStack Components 219 Other Services 219 Compute Services 220 Application Services 220 Summary 221 References 221 Further Reading 221 Website Resources 222 Data Analytics Tools 222 DBaaS 222 NoSQL 222 SQL 222 DevOps 223 Hadoop Competitors 223 Private Clouds 223 Virtual Databases 223 NoSQL 223 SQL 223 10 What Is the Cloud Future? 225 NoOps 225 Everything as a Service (EaaS) 226 Zero Knowledge Cloud Storage 226 Serverless Architecture 226 Multicloud 227 Small Business Clouds 227 Machine Learning 228 Internet of Things (IoT) 229 Cloud Computing as a Utility 229 Cloud Streaming Services 230 Edge Computing 230 Fog Computing 231 Summary 232 References 233 Further Reading 233 Glossary 235 Chapter 1 List of Terms 235 Chapter 2 List of Terms 237 Chapter 3 List of Terms 240 Chapter 4 List of Terms 243 Chapter 5 List of Terms 245 Chapter 6 List of Terms 248 Chapter 7 List of Terms 250 Chapter 8 List of Terms 252 Chapter 9 List of Terms 256 Chapter 10 List of Terms 258 Index 261

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Book SynopsisHYDRAULIC FLUID POWER LEARN MORE ABOUT HYDRAULIC TECHNOLOGY IN HYDRAULIC SYSTEMS DESIGN WITH THIS COMPREHENSIVE RESOURCEHydraulic Fluid Power provides readers with an original approach to hydraulic technology education that focuses on the design of complete hydraulic systems. Accomplished authors and researchers Andrea Vacca and Germano Franzoni begin by describing the foundational principles of hydraulics and the basic physical components of hydraulics systems. They go on to walk readers through the most practical and useful system concepts for controlling hydraulic functions in modern, state-of-the-art systems.Written in an approachable and accessible style, the book's concepts are classified, analyzed, presented, and compared on a system level. The book also provides readers with the basic and advanced tools required to understand how hydraulic circuit design affects the operation of the equipment in which it's found, focusing on the energy performance Table of ContentsPART I:Fundamental principles4 Objectives4 CHAPTER 1:Introduction to hydraulic control technology6 Historical perspective7 Fluid power symbology and its evolution12 Common ISO Symbols16 Problems25 CHAPTER 2:Hydraulic fluids28 Ideal vs. Actual hydraulic fluids28 Classification of hydraulic fluids31 Mineral oils (H)32 Fire resistant fluids (HF)33 Synthetic fluids (HS)34 Environmentally friendly fluids34 Water hydraulics34 Comparisons between hydraulic fluids35 Physical properties of hydraulic fluids36 Fluid compressibility: Bulk Modulus Fluid density38 Fluid viscosity42 Viscosity as a function of temperature43 Viscosity as a function of pressure47 Entrained air, gas solubility and cavitation48 Entrained air48 Gas solubility48 Equivalent properties of liquid-air mixtures50 Contamination in hydraulic fluids57 Considerations on hydraulic filters59 Filter placement64 Considerations on hydraulic reservoirs68 Tank volume68 Basic design of a tank69 Problems71 CHAPTER 3:Fundamental Equations73 Pascal’s law73 Basic law of fluid statics74 Volumetric flow rate77 Conservation of mass80 Application to a hydraulic cylinder81 Bernoulli’s Equation84 Generalized Bernoulli’s equation85 Major losses calculation87 Minor losses89 Hydraulic resistance90 Stationary modeling of flow networks92 Momentum equation96 Flow forces100 Problems106 CHAPTER 4(*):Orifice Basics111 The orifice equation111 Fixed and variable orifices115 Power loss in orifices117 Parallel and series connection of orifices119 Functions of orifices in hydraulic systems123 Orifices in pressure and return lines123 Orifices in pilot lines126 Problems131 CHAPTER 5:Dynamic Analysis of Hydraulic Systems134 Pressure build-up Equation - hydraulic capacitance134 Fluid inertia Equation - hydraulic inductance140 Modeling flow network – dynamic considerations146 Validity of the lumped parameter approach151 Further considerations on the line impedance model152 Damping effect of hydraulic accumulators153 Problems156 References160 PART II:Main hydraulic components4 Objectives5 CHAPTER 6 (**):Hydrostatic pumps and motors6 Introduction6 The ideal case7 General operating principle9 ISO symbols13 Ideal equations14 The real case16 Losses in pumps and motors17 Fluid compressibility17 Internal and external leakage20 Friction21 Other types of losses23 Volumetric and hydro-mechanical efficiency24 Trends for volumetric and hydromechanical efficiencies28 Design types34 Swashplate type axial piston machines35 Bent axis type axial piston machines38 Radial piston machines39 Gear machines40 Vane type machines43 Problems46 CHAPTER 7(*):Hydraulic cylinders50 Classification50 Cylinder analysis52 Ideal vs. real cylinder55 Problems61 CHAPTER 8(*):Hydraulic control valves63 Spring basics64 Check and shuttle valves65 Check valve65 Pilot operated check valve66 Shuttle valve67 Pressure control valves68 Pressure relief valve68 Direct acting pressure relief valve68 Pilot operated pressure relief valve72 Pressure reducing valve75 Direct acting pressure reducing relieving valve75 Pilot operated pressure reducing valve77 Flow control valves80 Two-way flow control valve80 Fixed displacement pump circuit with a two-way flow control valve83 Three-way flow control valve87 Fixed displacement pump circuit with a three-way flow control valve89 Directional control valves95 Meter-in and meter-out configurations97 Neutral position100 Actuation methods103 Servovalves107 Characteristic of servovalves112 Servovalves vs. proportional valves123 Problems126 CHAPTER 9(*):Hydraulic Accumulators132 Accumulator Types132 Weight loaded accumulators132 Spring-loaded accumulators132 Gas-charged accumulators133 Piston-type accumulators133 Diaphragm-type accumulators134 Bladder-type accumulators135 Operation of gas charged accumulators137 Typical applications138 Energy accumulation138 Emergency supply140 Energy recuperation140 Hydraulic suspensions140 Pulsation dampening – shock attenuation141 Equations and sizing142 Accumulator as energy storage device142 Accumulator as dampening device145 Problems151 References154 PART 3:Actuator control concepts3 Objectives3 CHAPTER 10 (*):Basics of actuator control5 Control methods: speed, force and position control5 Resistive and overrunning loads7 Power flow depending on the load conditions9 Problems11 CHAPTER 11:General concepts for controlling a single actuator13 Supply and control Concepts13 Flow supply – primary control18 Flow supply – metering control19 Flow supply – secondary control21 Pressure supply – primary control21 Pressure supply – metering control23 Pressure supply – secondary control25 Additional remarks26 CHAPTER 12:Regeneration with single rod actuators27 Basic Concept of regeneration27 Actual implementation32 Directional control valve with external regeneration valves32 Directional control valve with regenerative extension position33 Solution with automated selection of the regeneration mode34 Problems36 References38 PART 4:Metering controls for a single actuator3 Objectives3 CHAPTER 13:Fundamentals of metering control5 Basic meter-in and meter-out control principles5 Meter-in control Extension with resistive loads Retraction with overrunning loads Meter-out control10 Extension with resistive loads 14 Retraction with overrunning loads18 Remarks on meter-in and meter-out controls19 Actual metering control components36 Single spool proportional DCVs41 Independent metering control elements38 Usage of anti-cavitation valve for unloaded meter-out51 Problems49 CHAPTER 14:Load holding and counterbalance valves53 Load holding valves53 Pilot operated check valve61 Counterbalance valves60 Basic operating principle67 CBV architecture69 CBV detailed operation72 Effect of the pilot ratio and of the pressure setting83 Counterbalance valve with vented spring chambers85 Problems78 CHAPTER 15:Bleed-off and open center circuits80 Bleed-off circuit operation91 Energy analysis94 Basic open center system97 Operation98 Open center valve design101 Energy analysis102 Advanced open center control architectures106 Negative flow control106 Basic Schematic106 Operation107 Pump displacement setting mechanism110 Positive flow control114 Basic Schematic114 Operation115 Pump displacement setting mechanism115 Energy analysis for advanced open center architectures116 Problems118 CHAPTER 16:Load sensing systems109 Basic load sensing control concept121 LS system with fixed displacement pump122 Basic Schematic122 Operation123 Energy analysis125 Saturation conditions126 Load sensing valve127 LS system with variable displacement pump137 Basic Schematic137 Operation138 Energy analysis139 Saturation conditions140 Load sensing pump148 LS solution with independent metering valves157 Electronic load sensing (E-LS)159 Problems162 CHAPTER 17:Constant pressure systems150 Constant pressure system based on a variable displacement pump163 Basic schematic and operation163 Energy analysis166 Constant pressure system with unloader (CPU)167 Constant pressure system based on a fixed displacement pump170 Basic schematic and operation170 Application to hydraulic braking circuits173 Problems175 References PART 5:Metering control of multiple actuators3 Objectives3 CHAPTER 18:Basics of multiple Actuator Systems5 Actuators in series and in parallel5 Series configuration6 Parallel configuration8 Elimination of the load interference in parallel actuators12 Solving load interference using compensators12 Solving load interference with a volumetric coupling13 Syncronization of parallel actuators through flow dividers15 Spool type flow divider15 Spool type flow divider-combiner16 Volumetric flow divider-combiner19 Linear flow divider-combiner24 Rotary flow divider-combiner25 Problems23 CHAPTER 19:Constant pressure systems for multiple actuators27 Basic concepts for a Multi-user constant pressure system27 Basic schematic35 Flow saturation36 Energy analysis37 Complete schematic of a multi-user constant pressure system29 Problems33 CHAPTER 20:Open center systems for multiple actuators35 Parallel open center systems36 Operation46 Energy analysis48 Flow saturation49 Considerations on the open center spool design49 Opening areas39 Opening delay (valve timing)41 Load interference in open center systems41 Tandem and series open center systems47 Tandem configuration60 Series configuration63 Advanced open center circuit for multiple users: the case of excavators49 Problems52 CHAPTER 21:Load sensing systems for controlling multiple actuators53 Load sensing system without pressure compensation (LS)53 Basic circuit69 Energy analysis72 Valve implementation and extension to more actuators74 Load sensing pressure compensated systems (LSPC)61 LSPC with pre-compensated valve technology61 Basic circuit79 Energy analysis82 Valve implementation and architecture84 LSPC with post-compensated valve technology70 Basic circuit90 Energy analysis92 Valve implementation and architecture94 Flow saturation and flow sharing in LS systems79 Flow saturation with pre-compensated LSPC80 Flow saturation with post-compensated LSPC82 Pre vs. post compensated comparison84 Independent metering systems with load sensing88 Problems91 CHAPTER 22:Power steering and hydraulic systems with priority function102 Hydraulic power steering103 Classification of hydraulic power steering systems103 Hydrostatic power steering111 Hydrostatic steering unit description114 Types of hydrostatic steering units119 Priority valves121 Priority valve for a fixed displacement flow supply121 Priority valve for load sensing circuits128 Problems131 References PART 6:Hydrostatic transmissions and hydrostatic actuators3 Objectives5 CHAPTER 23:Basics and classifications6 Hydrostatic transmissions and hydrostatic actuators6 Basic definitions6 Supply concepts used in HTs and HAs9 Primary units for hydrostatic transmissions and actuators10 Constant speed prime mover and variable displacement pump10 Variable speed prime mover and fixed displacement pump10 Variable speed prime mover and variable displacement pump11 Over-center variable displacement pump11 Typical applications12 CHAPTER 24:Hydrostatic transmissions15 Main parameters of a hydrostatic transmission15 Theoretical layouts19 Pump and motor with fixed displacement (PFMF)19 Variable displacement pump and fixed displacement motor (PVMF)20 Fixed displacement pump and variable displacement motor (PFMV)21 Variable displacement pump and variable displacement motor (PVMV)23 Variable displacement pump and dual displacement motor (PVM2)25 Open circuit hydrostatic transmissions29 Open-circuit HT with flow supply: basic circuit29 Open circuit HT with flow supply: common implementation31 Open circuit displacement regulator33 Open circuit HTs with pressure supply35 Closed circuit hydrostatic transmissions40 Charge circuit and filtration41 Cross-port relief valves45 Flushing circuit47 Closed circuit displacement regulators54 Electro-hydraulic displacement regulator for closed circuit pumps54 Automotive control for closed circuit pumps56 Conceptual schematic58 Actual implementation60 Electro-hydraulic displacement regulator for motors59 Automatic pressure regulator for motors60 Problems61 CHAPTER 25:Hydrostatic transmissions applied to vehicle propulsion67 Basic of vehicle transmission67 Classification for variable ratio transmission systems71 Power-split transmissions74 Planetary gear train76 Hydromechanical power split transmission78 Analysis of an output coupled hydromechanical power split transmission Analysis of an input coupled hydromechanical power split transmission Hybrid transmissions92 Series hybrids93 Parallel hybrids95 Series-parallel hybrids (or power split hybrids)97 Sizing hydrostatic transmissions for propel applications100 Step 1: Maximum tractive effort calculation101 Step 2: Fixed or variable displacement motor selection102 Step 3: Sizing of the motor (secondary unit)104 Step 4: Sizing of the pump (primary unit)105 Step 5: Check results106 Problems112 CHAPTER 26:Hydrostatic actuators113 Open circuit hydrostatic actuators113 Closed circuit hydrostatic actuators116 Cylinder extension117 Extension in pumping mode117 Extension in motoring mode118 Cylinder retraction120 Retraction in motoring mode121 Retraction in pumping mode122 Further considerations on the charge pump and the accumulator124 Final remarks on hydrostatic actuators127 CHAPTER 27:Secondary controlled hydrostatic transmissions129 Secondary control circuit with tachometric pump132 Secondary control circuit with tachometric pump and internal force feedback135 Secondary control circuit with electronic control137 Multiple actuators139 References APPENDIX 1 – Prime movers and their interaction with the hydraulic circuit Objectives Corner power method and its limitations Diesel engine and its interaction with a hydraulic pump Diesel engine regulation Engine stall Overrunning loads Fuel consumption Electric prime movers Brushed DC electric motors DC hydraulic power units Induction motors (or asynchronous motor) Synchronous motor Power limitation in hydraulic pumps Torque limiting using fixed displacement pumps Torque limiting using variable displacement pumps References

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Book SynopsisDespite significant developments and widespread theoretical and practical interest in the area of Solid-Propellant Nonsteady Combustion for the last fifty years, a comprehensive and authoritative text on the subject has not been available. Theory of Solid-Propellant Nonsteady Combustion fills this gap by summarizing theoretical approaches to the problem within the framework of the Zeldovich-Novozhilov (ZN-) theory. This book contains equations governing unsteady combustion and applies them systematically to a wide range of problems of practical interest. Theory conclusions are validated, as much as possible, against available experimental data. Theory of Solid-Propellant Nonsteady Combustion provides an accurate up-to-date account and perspectives on the subject and is also accompanied by a website hosting solutions to problems in the book.Table of ContentsAbout the Authors Preface Abbreviations CHAPTER I STEADY-STATE COMBUSTION 1.1 General Characteristics of Solid Propellants 1.2 Burning Rate and Surface Temperature 1.3 Combustion Wave Structure.Burning temperature 1.4 Combustion in Tangential Gas Stream 1.5 Gaseous flame 1.6 Combustion Wave in Condensed Phase 1.7 The Two Approaches to the Theory of Nonsteady Propellant Combustion 1.8 Steady-State Belyaev Model CHAPTER II EQUATIONS OF THE THEORY OF NONSTEADY COMBUSTION 2.1 Major Assumptions 2.2 Zeldovich Theory. Constant Surface Temperature 2.3 Variable Surface Temperature 2.4 Integral Formulation of the Theory 2.5 Theory Formulation through the set of Ordinary Differential Equations 2.6 Linear Approximation 2.7 Formal Mathematical Justification of the Theory CHAPTER III COMBUSTION UNDER CONSTANT PRESSURE 3.1 Stability Criterion for a Steady-state Combustion Regime 3.2 Asymptotical Perturbation Analysis 3.3 Two-dimensional Combustion Stability of Gasless Systems 3.4 Combustion Beyond Stability Region 3.5 Comparison to Experimental Data CHAPTER IV COMBUSTION UNDER HARMONICALLY OSCILLATING PRESSURE 4.1 Linear Burning Rate Response to Harmonically Oscillating Pressure 4.2 Acoustic Admittance of Propellant Surface 4.3 Quadratic Response Functions 4.4 Acoustic Admittance in the Second-order Approximation 4.5 Nonlinear Resonance 4.6 Response Function Bifurcations 4.7 Frequency – Amplitude Diagram 4.8 Comparison to Experimental Data CHAPTER V NONSTEADY EROSIVE COMBUSTION 5.1 Problem formulation 5.2 Linear Approximation 5.3 Nonlinear Effects in Nonsteady Erosive Combustion CHAPTER VI NONSTEADY COMBUSTION UNDER EXTERNAL RADIATION 6.1 Steady-state Combustion Regime 6.2 Heat Transfer Equation in the Linear Approximation 6.3 Linearization of Nonsteady Burning Laws 6.4 Steady-state Combustion Regime Stability 6.5 Burning Rate Response to Harmonically Oscillating Pressure 6.6 Burning Rate Response to Harmonically Oscillating Radiative Flux 6.7 Relation between Burning Rate Responses to Harmonically Oscillating Pressure and Radiative Flux CHAPTER VII NON-ACOUSTIC COMBUSTION REGIMES. EXTINCTION 7.1 Acoustic and Non-acoustic Combustion Regimes 7.2 Linear Approximation 7.3 Approximate Approach in the Theory of Nonsteady Combustion 7.4 Self-similar Solution 7.5 Self-similar Solution Stability 7.6 Propellant Combustion and Extinction under Depressurization. Constant Surface Temperature. 7.7 Propellant Combustion and Extinction under Depressurization. Variable Surface Temperature. CHAPTER VIII MODELING NONSTEADY COMBUSTION IN SOLID ROCKET MOTOR 8.1 Introduction 8.2 Non-acoustic Regimes. Problem Formulation 8.3 Stability of Steady-state Regime in a Semi-enclosed Volume 8.4 Transient Regimes 8.5 Unstable and Chaotic Regimes 8.6 Experimental Data 8.7 Acoustic Regimes 8.8 Automatic Control of Propellant Combustion Stability in a Semi- enclosed Volume CHAPTER IX INFLUENCE OF GAS-PHASE INERTIA ON NONSTEADY COMBUSTION 9.1 Introduction 9.2 Steady-state Combustion Regime Stability 9.3 Burning Rate Response to Harmonically Oscillating Pressure 9.4 Acoustic Admittance of Propellant Surface 9.5 Combustion and Extinction under Depressurization 9.6 approximation References Problems Problem Solutions Subject Index

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Book SynopsisA single source of information for the many facets of transport phenomenaThis hands-on guide lays out core principles and practices of heat, mass, and momentum transfer in one useful resource. Written by a seasoned biological and agricultural engineering professor, Transport Phenomena for Biological and Agricultural Engineers: A Problem-Based Approach includes examples and problem sets reflecting real-world applications. You will explore fluid, mass, and heat transfer; pressure measurements; Fickâs and Kirchhoffâs Laws; and much more. This textbook is designed to be the singular resource for biological and agricultural engineering students studying transport phenomena.Coverage includes: Modes of heat transfer Conduction heat transfer Steady-state conduction heat transfer Unsteady state conduction Convection heat transfer Design and analysis of heat exchangers Elements of thermal radiation

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Book SynopsisThe revised and updated new edition of the popular optimization book for engineers The thoroughly revised and updated fifth edition ofEngineering Optimization: Theory and Practiceoffers engineers a guide to the important optimization methods that are commonly used in a wide range of industries. The authora noted expert on the topicpresents both the classical and most recent optimizations approaches. The book introduces the basic methods and includes information on more advanced principles and applications. The fifth edition presents four new chapters: Solution of Optimization Problems Using MATLAB; Metaheuristic Optimization Methods; Multi-Objective Optimization Methods; and Practical Implementation of Optimization. All of the book''s topics are designed to be self-contained units with the concepts described in detail with derivations presented. The author puts the emphasis on computational aspects of optimization and includes design examples and problemsTable of ContentsPreface xvii Acknowledgment xxi About the Author xxiii 1 Introduction to Optimization 1 1.1 Introduction 1 1.2 Historical Development 3 1.2.1 Modern Methods of Optimization 4 1.3 Engineering Applications of Optimization 5 1.4 Statement of an Optimization Problem 6 1.4.1 Design Vector 6 1.4.2 Design Constraints 7 1.4.3 Constraint Surface 7 1.4.4 Objective Function 8 1.4.5 Objective Function Surfaces 9 1.5 Classification of Optimization Problems 14 1.5.1 Classification Based on the Existence of Constraints 14 1.5.2 Classification Based on the Nature of the Design Variables 14 1.5.3 Classification Based on the Physical Structure of the Problem 15 1.5.4 Classification Based on the Nature of the Equations Involved 18 1.5.5 Classification Based on the Permissible Values of the Design Variables 27 1.5.6 Classification Based on the Deterministic Nature of the Variables 28 1.5.7 Classification Based on the Separability of the Functions 29 1.5.8 Classification Based on the Number of Objective Functions 31 1.6 Optimization Techniques 33 1.7 Engineering Optimization Literature 34 1.8 Solutions Using MATLAB 34 References and Bibliography 34 Review Questions 40 Problems 41 2 Classical Optimization Techniques 57 2.1 Introduction 57 2.2 Single-Variable Optimization 57 2.3 Multivariable Optimization with no Constraints 62 2.3.1 Definition: rth Differential of f 62 2.3.2 Semidefinite Case 67 2.3.3 Saddle Point 67 2.4 Multivariable Optimization with Equality Constraints 69 2.4.1 Solution by Direct Substitution 69 2.4.2 Solution by the Method of Constrained Variation 71 2.4.3 Solution by the Method of Lagrange Multipliers 77 2.5 Multivariable Optimization with Inequality Constraints 85 2.5.1 Kuhn–Tucker Conditions 90 2.5.2 Constraint Qualification 90 2.6 Convex Programming Problem 96 References and Bibliography 96 Review Questions 97 Problems 98 3 Linear Programming I: Simplex Method 109 3.1 Introduction 109 3.2 Applications of Linear Programming 110 3.3 Standard form of a Linear Programming Problem 112 3.3.1 Scalar Form 112 3.3.2 Matrix Form 112 3.4 Geometry of Linear Programming Problems 114 3.5 Definitions and Theorems 117 3.5.1 Definitions 117 3.5.2 Theorems 120 3.6 Solution of a System of Linear Simultaneous Equations 122 3.7 Pivotal Reduction of a General System of Equations 123 3.8 Motivation of the Simplex Method 127 3.9 Simplex Algorithm 128 3.9.1 Identifying an Optimal Point 128 3.9.2 Improving a Nonoptimal Basic Feasible Solution 129 3.10 Two Phases of the Simplex Method 137 3.11 Solutions Using MATLAB 143 References and Bibliography 143 Review Questions 143 Problems 145 4 Linear Programming II: Additional Topics and Extensions 159 4.1 Introduction 159 4.2 Revised Simplex Method 159 4.3 Duality in Linear Programming 173 4.3.1 Symmetric Primal–Dual Relations 173 4.3.2 General Primal–Dual Relations 174 4.3.3 Primal–Dual Relations when the Primal Is in Standard Form 175 4.3.4 Duality Theorems 176 4.3.5 Dual Simplex Method 176 4.4 Decomposition Principle 180 4.5 Sensitivity or Postoptimality Analysis 187 4.5.1 Changes in the Right-Hand-Side Constants bi 188 4.5.2 Changes in the Cost Coefficients cj 192 4.5.3 Addition of New Variables 194 4.5.4 Changes in the Constraint Coefficients aij 195 4.5.5 Addition of Constraints 197 4.6 Transportation Problem 199 4.7 Karmarkar’s Interior Method 202 4.7.1 Statement of the Problem 203 4.7.2 Conversion of an LP Problem into the Required Form 203 4.7.3 Algorithm 205 4.8 Quadratic Programming 208 4.9 Solutions Using Matlab 214 References and Bibliography 214 Review Questions 215 Problems 216 5 Nonlinear Programming I: One-Dimensional Minimization Methods 225 5.1 Introduction 225 5.2 Unimodal Function 230 Elimination Methods 231 5.3 Unrestricted Search 231 5.3.1 Search with Fixed Step Size 231 5.3.2 Search with Accelerated Step Size 232 5.4 Exhaustive Search 232 5.5 Dichotomous Search 234 5.6 Interval Halving Method 236 5.7 Fibonacci Method 238 5.8 Golden Section Method 243 5.9 Comparison of Elimination Methods 246 Interpolation Methods 247 5.10 Quadratic Interpolation Method 248 5.11 Cubic Interpolation Method 253 5.12 Direct Root Methods 259 5.12.1 Newton Method 259 5.12.2 Quasi-Newton Method 261 5.12.3 Secant Method 263 5.13 Practical Considerations 265 5.13.1 How to Make the Methods Efficient and More Reliable 265 5.13.2 Implementation in Multivariable Optimization Problems 266 5.13.3 Comparison of Methods 266 5.14 Solutions Using MATLAB 267 References and Bibliography 267 Review Questions 267 Problems 268 6 Nonlinear Programming II: Unconstrained Optimization Techniques 273 6.1 Introduction 273 6.1.1 Classification of Unconstrained Minimization Methods 276 6.1.2 General Approach 276 6.1.3 Rate of Convergence 276 6.1.4 Scaling of Design Variables 277 Direct Search Methods 280 6.2 Random Search Methods 280 6.2.1 Random Jumping Method 280 6.2.2 Random Walk Method 282 6.2.3 Random Walk Method with Direction Exploitation 283 6.2.4 Advantages of Random Search Methods 284 6.3 Grid Search Method 285 6.4 Univariate Method 285 6.5 Pattern Directions 288 6.6 Powell’s Method 289 6.6.1 Conjugate Directions 289 6.6.2 Algorithm 293 6.7 Simplex Method 298 6.7.1 Reflection 298 6.7.2 Expansion 301 6.7.3 Contraction 301 Indirect Search (Descent) Methods 304 6.8 Gradient of a Function 304 6.8.1 Evaluation of the Gradient 306 6.8.2 Rate of Change of a Function Along a Direction 307 6.9 Steepest Descent (Cauchy) Method 308 6.10 Conjugate Gradient (Fletcher–Reeves) Method 310 6.10.1 Development of the Fletcher–Reeves Method 310 6.10.2 Fletcher–Reeves Method 311 6.11 Newton’s Method 313 6.12 Marquardt Method 316 6.13 Quasi-Newton Methods 317 6.13.1 Computation of [Bi] 318 6.13.2 Rank 1 Updates 319 6.13.3 Rank 2 Updates 320 6.14 Davidon–Fletcher–Powell Method 321 6.15 Broyden–Fletcher–Goldfarb–Shanno Method 327 6.16 Test Functions 330 6.17 Solutions Using Matlab 332 References and Bibliography 333 Review Questions 334 Problems 336 7 Nonlinear Programming III: Constrained Optimization Techniques 347 7.1 Introduction 347 7.2 Characteristics of a Constrained Problem 347 Direct Methods 350 7.3 Random Search Methods 350 7.4 Complex Method 351 7.5 Sequential Linear Programming 353 7.6 Basic Approach in the Methods of Feasible Directions 360 7.7 Zoutendijk’s Method of Feasible Directions 360 7.7.1 Direction-Finding Problem 362 7.7.2 Determination of Step Length 364 7.7.3 Termination Criteria 367 7.8 Rosen’s Gradient Projection Method 369 7.8.1 Determination of Step Length 372 7.9 Generalized Reduced Gradient Method 377 7.10 Sequential Quadratic Programming 386 7.10.1 Derivation 386 7.10.2 Solution Procedure 389 Indirect Methods 392 7.11 Transformation Techniques 392 7.12 Basic Approach of the Penalty Function Method 394 7.13 Interior Penalty Function Method 396 7.14 Convex Programming Problem 405 7.15 Exterior Penalty Function Method 406 7.16 Extrapolation Techniques in the Interior Penalty Function Method 410 7.16.1 Extrapolation of the Design Vector X 410 7.16.2 Extrapolation of the Function f 412 7.17 Extended Interior Penalty Function Methods 414 7.17.1 Linear Extended Penalty Function Method 414 7.17.2 Quadratic Extended Penalty Function Method 415 7.18 Penalty Function Method for Problems with Mixed Equality and Inequality Constraints 416 7.18.1 Interior Penalty Function Method 416 7.18.2 Exterior Penalty Function Method 418 7.19 Penalty Function Method for Parametric Constraints 418 7.19.1 Parametric Constraint 418 7.19.2 Handling Parametric Constraints 420 7.20 Augmented Lagrange Multiplier Method 422 7.20.1 Equality-Constrained Problems 422 7.20.2 Inequality-Constrained Problems 423 7.20.3 Mixed Equality–Inequality-Constrained Problems 425 7.21 Checking the Convergence of Constrained Optimization Problems 426 7.21.1 Perturbing the Design Vector 427 7.21.2 Testing the Kuhn–Tucker Conditions 427 7.22 Test Problems 428 7.22.1 Design of a Three-Bar Truss 429 7.22.2 Design of a Twenty-Five-Bar Space Truss 430 7.22.3 Welded Beam Design 431 7.22.4 Speed Reducer (Gear Train) Design 433 7.22.5 Heat Exchanger Design [7.42] 435 7.23 Solutions Using MATLAB 435 References and Bibliography 435 Review Questions 437 Problems 439 8 Geometric Programming 449 8.1 Introduction 449 8.2 Posynomial 449 8.3 Unconstrained Minimization Problem 450 8.4 Solution of an Unconstrained Geometric Programming Program using Differential Calculus 450 8.4.1 Degree of Difficulty 453 8.4.2 Sufficiency Condition 453 8.4.3 Finding the Optimal Values of Design Variables 453 8.5 Solution of an Unconstrained Geometric Programming Problem Using Arithmetic–Geometric Inequality 457 8.6 Primal–dual Relationship and Sufficiency Conditions in the Unconstrained Case 458 8.6.1 Primal and Dual Problems 461 8.6.2 Computational Procedure 461 8.7 Constrained Minimization 464 8.8 Solution of a Constrained Geometric Programming Problem 465 8.8.1 Optimum Design Variables 466 8.9 Primal and Dual Programs in the Case of Less-than Inequalities 466 8.10 Geometric Programming with Mixed Inequality Constraints 473 8.11 Complementary Geometric Programming 475 8.11.1 Solution Procedure 477 8.11.2 Degree of Difficulty 478 8.12 Applications of Geometric Programming 480 References and Bibliography 491 Review Questions 493 Problems 493 9 Dynamic Programming 497 9.1 Introduction 497 9.2 Multistage Decision Processes 498 9.2.1 Definition and Examples 498 9.2.2 Representation of a Multistage Decision Process 499 9.2.3 Conversion of a Nonserial System to a Serial System 500 9.2.4 Types of Multistage Decision Problems 501 9.3 Concept of Suboptimization and Principle of Optimality 501 9.4 Computational Procedure in Dynamic Programming 505 9.5 Example Illustrating the Calculus Method of Solution 507 9.6 Example Illustrating the Tabular Method of Solution 512 9.6.1 Suboptimization of Stage 1 (Component 1) 514 9.6.2 Suboptimization of Stages 2 and 1 (Components 2 and 1) 514 9.6.3 Suboptimization of Stages 3, 2, and 1 (Components 3, 2, and 1) 515 9.7 Conversion of a Final Value Problem into an Initial Value Problem 517 9.8 Linear Programming as a Case of Dynamic Programming 519 9.9 Continuous Dynamic Programming 523 9.10 Additional Applications 526 9.10.1 Design of Continuous Beams 526 9.10.2 Optimal Layout (Geometry) of a Truss 527 9.10.3 Optimal Design of a Gear Train 528 9.10.4 Design of a Minimum-Cost Drainage System 529 References and Bibliography 530 Review Questions 531 Problems 532 10 Integer Programming 537 10.1 Introduction 537 Integer Linear Programming 538 10.2 Graphical Representation 538 10.3 Gomory’s Cutting Plane Method 540 10.3.1 Concept of a Cutting Plane 540 10.3.2 Gomory’s Method for All-Integer Programming Problems 541 10.3.3 Gomory’s Method for Mixed-Integer Programming Problems 547 10.4 Balas’ Algorithm for Zero–One Programming Problems 551 Integer Nonlinear Programming 553 10.5 Integer Polynomial Programming 553 10.5.1 Representation of an Integer Variable by an Equivalent System of Binary Variables 553 10.5.2 Conversion of a Zero–One Polynomial Programming Problem into a Zero–One LP Problem 555 10.6 Branch-and-Bound Method 556 10.7 Sequential Linear Discrete Programming 561 10.8 Generalized Penalty Function Method 564 10.9 Solutions Using MATLAB 569 References and Bibliography 569 Review Questions 570 Problems 571 11 Stochastic Programming 575 11.1 Introduction 575 11.2 Basic Concepts of Probability Theory 575 11.2.1 Definition of Probability 575 11.2.2 Random Variables and Probability Density Functions 576 11.2.3 Mean and Standard Deviation 578 11.2.4 Function of a Random Variable 580 11.2.5 Jointly Distributed Random Variables 581 11.2.6 Covariance and Correlation 583 11.2.7 Functions of Several Random Variables 583 11.2.8 Probability Distributions 585 11.2.9 Central Limit Theorem 589 11.3 Stochastic Linear Programming 589 11.4 Stochastic Nonlinear Programming 594 11.4.1 Objective Function 594 11.4.2 Constraints 595 11.5 Stochastic Geometric Programming 600 References and Bibliography 602 Review Questions 603 Problems 604 12 Optimal Control and Optimality Criteria Methods 609 12.1 Introduction 609 12.2 Calculus of Variations 609 12.2.1 Introduction 609 12.2.2 Problem of Calculus of Variations 610 12.2.3 Lagrange Multipliers and Constraints 615 12.2.4 Generalization 618 12.3 Optimal Control Theory 619 12.3.1 Necessary Conditions for Optimal Control 619 12.3.2 Necessary Conditions for a General Problem 621 12.4 Optimality Criteria Methods 622 12.4.1 Optimality Criteria with a Single Displacement Constraint 623 12.4.2 Optimality Criteria with Multiple Displacement Constraints 624 12.4.3 Reciprocal Approximations 625 References and Bibliography 628 Review Questions 628 Problems 629 13 Modern Methods of Optimization 633 13.1 Introduction 633 13.2 Genetic Algorithms 633 13.2.1 Introduction 633 13.2.2 Representation of Design Variables 634 13.2.3 Representation of Objective Function and Constraints 635 13.2.4 Genetic Operators 636 13.2.5 Algorithm 640 13.2.6 Numerical Results 641 13.3 Simulated Annealing 641 13.3.1 Introduction 641 13.3.2 Procedure 642 13.3.3 Algorithm 643 13.3.4 Features of the Method 644 13.3.5 Numerical Results 644 13.4 Particle Swarm Optimization 647 13.4.1 Introduction 647 13.4.2 Computational Implementation of PSO 648 13.4.3 Improvement to the Particle Swarm Optimization Method 649 13.4.4 Solution of the Constrained Optimization Problem 649 13.5 Ant Colony Optimization 652 13.5.1 Basic Concept 652 13.5.2 Ant Searching Behavior 653 13.5.3 Path Retracing and Pheromone Updating 654 13.5.4 Pheromone Trail Evaporation 654 13.5.5 Algorithm 655 13.6 Optimization of Fuzzy Systems 660 13.6.1 Fuzzy Set Theory 660 13.6.2 Optimization of Fuzzy Systems 662 13.6.3 Computational Procedure 663 13.6.4 Numerical Results 664 13.7 Neural-Network-Based Optimization 665 References and Bibliography 667 Review Questions 669 Problems 671 14 Metaheuristic Optimization Methods 673 14.1 Definitions 673 14.2 Metaphors Associated with Metaheuristic Optimization Methods 673 14.3 Details of Representative Metaheuristic Algorithms 680 14.3.1 Crow Search Algorithm 680 14.3.2 Firefly Optimization Algorithm (FA) 681 14.3.3 Harmony Search Algorithm 684 14.3.4 Teaching-Learning-Based Optimization (TLBO) 687 14.3.5 Honey Bee Swarm Optimization Algorithm 689 References and Bibliography 692 Review Questions 694 15 Practical Aspects of Optimization 697 15.1 Introduction 697 15.2 Reduction of Size of an Optimization Problem 697 15.2.1 Reduced Basis Technique 697 15.2.2 Design Variable Linking Technique 698 15.3 Fast Reanalysis Techniques 700 15.3.1 Incremental Response Approach 700 15.3.2 Basis Vector Approach 704 15.4 Derivatives of Static Displacements and Stresses 705 15.5 Derivatives of Eigenvalues and Eigenvectors 707 15.5.1 Derivatives of ;;i 707 15.5.2 Derivatives of Yi 708 15.6 Derivatives of Transient Response 709 15.7 Sensitivity of Optimum Solution to Problem Parameters 712 15.7.1 Sensitivity Equations Using Kuhn–Tucker Conditions 712 15.7.2 Sensitivity Equations Using the Concept of Feasible Direction 714 References and Bibliography 715 Review Questions 716 Problems 716 16 Multilevel and Multiobjective Optimization 721 16.1 Introduction 721 16.2 Multilevel Optimization 721 16.2.1 Basic Idea 721 16.2.2 Method 722 16.3 Parallel Processing 726 16.4 Multiobjective Optimization 729 16.4.1 Utility Function Method 730 16.4.2 Inverted Utility Function Method 730 16.4.3 Global Criterion Method 730 16.4.4 Bounded Objective Function Method 730 16.4.5 Lexicographic Method 731 16.4.6 Goal Programming Method 732 16.4.7 Goal Attainment Method 732 16.4.8 Game Theory Approach 733 16.5 Solutions Using MATLAB 735 References and Bibliography 735 Review Questions 736 Problems 737 17 Solution of Optimization Problems Using MATLAB 739 17.1 Introduction 739 17.2 Solution of General Nonlinear Programming Problems 740 17.3 Solution of Linear Programming Problems 742 17.4 Solution of LP Problems Using Interior Point Method 743 17.5 Solution of Quadratic Programming Problems 745 17.6 Solution of One-Dimensional Minimization Problems 746 17.7 Solution of Unconstrained Optimization Problems 746 17.8 Solution of Constrained Optimization Problems 747 17.9 Solution of Binary Programming Problems 750 17.10 Solution of Multiobjective Problems 751 References and Bibliography 755 Problems 755 A Convex and Concave Functions 761 B Some Computational Aspects of Optimization 767 B.1 Choice of Method 767 B.2 Comparison of Unconstrained Methods 767 B.3 Comparison of Constrained Methods 768 B.4 Availability of Computer Programs 769 B.5 Scaling of Design Variables and Constraints 770 B.6 Computer Programs for Modern Methods of Optimization 771 References and Bibliography 772 C Introduction to MATLAB® 773 C.1 Features and Special Characters 773 C.2 Defining Matrices in MATLAB 774 C.3 Creating m-Files 775 C.4 Optimization Toolbox 775 Answers to Selected Problems 777 Index 787

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Book SynopsisThe latest methods for troubleshooting and maintaining process equipmentThis extensively revised and updated practical resource fully explains how to diagnose, troubleshoot, and correct problems across a broad range of industriesâall without complex equations and without ever losing sight of the importance of direct field measurements and observations. This fifth edition features new and expanded coverage of: Causes and Effects of Wet Steam on Turbines and Strippers Distillation Design Errors and Inspecting Tower Internals Setting Pressure Relief Valves on Vessels and Heat Exchangers Reduction of Flare Losses Safer Procedures for Sampling Hazardous Material Taking Field Measurements Safely and Effectively Filled with real-world examples and illustrations, A Working Guide to Process Equipment, Fifth Edition clearly demonstrates how theory applies to solving real-world plant operation prob

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Book SynopsisVibration-based Condition Monitoring Stay up to date on the newest developments in machine condition monitoring with this brand-new resource from an industry leader The newly revised Second Edition of Vibration-based Condition Monitoring: Industrial, Automotive and Aerospace Applications delivers a thorough update to the most complete discussion of the field of machine condition monitoring. The distinguished author offers readers new sections on diagnostics of variable speed machines, including wind turbines, as well as new material on the application of cepstrum analysis to the separation of forcing functions, structural model properties, and the simulation of machines and faults. The book provides improved methods of order tracking based on phase demodulation of reference signals and new methods of determining instantaneous machine speed from the vibration response signal. Readers will also benefit from an insightful discussion of new methTable of ContentsChapter 1 Introduction and Background 1.1 Introduction 1.2 Maintenance strategies 1.3 Condition monitoring methods 1.3.1 Vibration analysis 1.3.2 Oil analysis 1.3.3 Performance analysis 1.3.4 Thermography 1.4 Types and benefits of vibration analysis 1.4.1 Benefits compared with other methods 1.4.2 Permanent vs intermittent monitoring 1.5 Vibration transducers 1.5.1 Absolute vs relative vibration measurement 1.5.2 Proximity probes 1.5.3 Velocity transducers 1.5.4 Accelerometers 1.5.5 Dual vibration probes 1.5.6 Laser vibrometers 1.6 Torsional vibration transducers 1.6.1 Shaft encoders 1.6.2 Torsional laser vibrometers 1.7 Condition monitoring – the basic problem References Chapter 2 Vibration Signals from Rotating and Reciprocating Machines 2.1 Signal classification 2.1.1 Stationary deterministic signals 2.1.2 Stationary random signals 2.1.3 Cyclostationary signals 2.1.4 Cyclo-non-stationary signals 2.2 Signals generated by rotating machines 2.2.1 Low shaft orders and subharmonics 2.2.2 Vibrations from gears 2.2.3 Rolling element bearings 2.2.4 Bladed machines 2.2.5 Electrical machines 2.3 Signals generated by reciprocating machines 2.3.1 Time-frequency diagrams 2.3.2 Torsional vibrations References Chapter 3 Basic signal processing techniques 3.1 Statistical measures 3.1.1 Probability and probability density 3.1.2 Moments and cumulants 3.2 Fourier analysis 3.2.1 Fourier series 3.2.2 Fourier integral transform 3.2.3 Sampled time signals 3.2.4 The discrete Fourier transform (DFT) 3.2.5 The fast Fourier transform (FFT) 3.2.6 Convolution and the convolution theorem 3.2.7 Zoom FFT 3.2.8 Practical FFT analysis and scaling 3.3 Hilbert transform and demodulation 3.3.1 Hilbert transform 3.3.2 Demodulation 3.4 Digital filtering 3.4.1 Realisation of digital filters 3.4.2 Comparison of digital filtering with FFT processing 3.5 Time/frequency analysis 3.5.1 The short time Fourier transform (STFT) 3.5.2 The Wigner-Ville distribution 3.5.3 Wavelet analysis 3.5.4 Empirical mode decomposition 3.6 Cyclostationary analysis and spectral correlation 3.6.1 Spectral correlation 3.6.2 Spectral correlation and envelope spectrum 3.6.3 Wigner-Ville spectrum 3.6.4 Cyclo-non-stationary analysis References Chapter 4 Fault Detection 4.1 Introduction 4.2 Rotating machines 4.2.1 Vibration criteria 4.2.2 Use of frequency spectra 4.2.3 CPB spectrum comparison 4.3 Reciprocating machines 4.3.1 Vibration criteria for reciprocating machines 4.3.2 Time/frequency diagrams 4.3.3 Torsional vibration References Chapter 5 Some special signal processing techniques 5.1 Order tracking 5.1.1 Comparison of methods 5.1.2 Computed order tracking(COT) 5.1.3 Phase demodulation based COT 5.1.4 COT over a wide speed range 5.2 Determination of instantaneous machine speed 5.2.1 Derivative of instantaneous phase 5.2.2 Teager Kaiser and other energy operators 5.2.3 Comparison of time and frequency domain approaches 5.2.4 Other methods 5.3 Deterministic/random signal separation 5.3.1 Time synchronous averaging 5.3.2 Linear prediction 5.3.3 Adaptive noise cancellation 5.3.4 Self adaptive noise cancellation 5.3.5 Discrete/random separation (DRS) 5.4 Minimum entropy deconvolution 5.5 Spectral kurtosis and the kurtogram 5.5.1 Spectral kurtosis – definition and calculation 5.5.2 Use of SK as a filter 5.5.3 The kurtogram References Chapter 6 Cepstrum analysis applied to machine diagnostics 6.1 Cepstrum terminology and definitions 6.1.1 Brief history of the cepstrum and terminology 6.1.2 Cepstrum types and definitions 6.2 Applications of the real cepstrum 6.2.1 Practical considerations with the cepstrum 6.2.2 Detecting and quantifying harmonic/sideband families 6.2.3 Separation of forcing and transfer functions 6.3 Modifying time signals using the real cepstrum 6.3.1 Removing harmonic/sideband families 6.3.2 Enhancing/removing modal properties 6.3.3 Cepstrum pre-whitening References Chapter 7 Diagnostic Techniques for particular applications 7.1 Harmonic and sideband cursors 7.1.1 Basic principles 7.1.2 Examples of cursor application 7.1.3 Combination with order tracking 7.2 Gear diagnostics 7.2.1 Techniques based on the TSA 7.2.2 Transmission error as a diagnostic tool 7.2.3 Cepstrum analysis for gear diagnostics 7.2.4 Separation of spalls and cracks 7.2.5 Diagnostics of gears with varying speed and load 7.3 Rolling element bearing diagnostics 7.3.1 Signal models for bearing faults 7.3.2 A semi-automated bearing diagnostic procedure 7.3.3 Alternative diagnostic methods for special conditions 7.3.4 Diagnostics of bearings with varying speed and load 7.4 Reciprocating machine and IC engine diagnostics 7.4.1 Time/frequency methods 7.4.2 Cylinder pressure identification 7.4.3 Mechanical fault identification References Chapter 8 Fault simulation 8.1 Background and justification 8.2 Simulation of faults in gears 8.2.1 Lumped parameter models of parallel gears 8.2.2 Separation of spalls and cracks 8.2.3 Lumped parameter models of planetary gears 8.2.4 Interaction of faults with ring and sun gears 8.3 Simulation of faults in bearings 8.3.1 Local faults in LPM gearbox model 8.3.2 Extended faults in LPM gearbox model 8.3.3 Reduced FE casing model combined with LPM gear model 8.4 Simulation of faults in engines 8.4.1 Misfire 8.4.2 Piston slap 8.4.3 Bearing knock References Chapter 9 Fault trending and prognostics 9.1 Introduction 9.2 Trend analysis 9.2.1 Trending of simple parameters 9.2.2 Trending of “impulsiveness” 9.2.3 Trending of spall size in bearings 9.3 Advanced prognostics 9.3.1 Physics-based models 9.3.2 Data-driven models 9.3.3 Hybrid models 9.3.4 Simulation-based prognostics 9.4 Future developments 9.4.1 Advanced modelling 9.4.2 Advances in data analytics References

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Book SynopsisPublisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality,  authenticity, or access to any online entitlements included with the product.Rely on the #1 Guide to Pump Design and Application--Now Updated with the Latest Technological Breakthroughs Long-established as the leading guide to pump design and application, the Pump Handbook has been fully revised and updated with the latest developments in pump technology. Packed with 1,150 detailed illustrations and written by a team of over 100 internationally renowned pump experts, this vital tool shows you how to select, purchase, install, operate, maintain, and troubleshoot cutting-edge pumps for all types of uses. The Fourth Edition of the Pump Handbook features:State-of-the-art guidance on every aspect of pump theory, design, application, and technTable of ContentsList of ContributorsPrefaceSI Units--A CommentaryChapter 1. Introduction: Classification and Selection of PumpsChapter 2. Centrifugal PumpsChapter 3. Displacement PumpsChapter 4. Solids PumpingChapter 5. Pump SealingChapter 6. Pump BearingsChapter 7. Jet PumpsChapter 8. Materials of ConstructionChapter 9. Pump Drivers and Power TransmissionChapter 10. Pump NoiseChapter 11. Pump SystemsChapter 12. Pump ServicesChapter 13. Intakes and Suction PumpingChapter 14. Selecting and Purchasing PumpsChapter 15. Installation, Operation, and MaintenanceChapter 16. Pump TestingAppendix: Technical DataIndex

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Book SynopsisStay on top of your fluid mechanics courseâand study smarter for the Fundamentals of Engineering Examâwith the thoroughly updated Schaumâs Outline bestsellerTough Test Questions? Missed Lectures? Not Enough Time?Fortunately, thereâs Schaumâs. More than 40 million students have trusted Schaumâs to help them succeed in the classroom and on exams. Schaumâs 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 Schaumâs Outline gives you: 510 fully solved problems to reinforce knowledge 2 practice exams (one multiple choice and one partial credit) after each of the first 9 chapters 2 final practice exams 54 Fundamentals of Engineering questions for the engineering qualifying exam

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a huge range and FREE tracked UK delivery on ALL orders.

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Book SynopsisThe first book on the topic, with each chapter written by pioneers in the field, this essential resource details the fundamental theory, applications, and future developments of liquid cell electron microscopy. This book describes the techniques that have been developed to image liquids in both transmission and scanning electron microscopes, including general strategies for examining liquids, closed and open cell electron microscopy, experimental design, resolution, and electron beam effects. A wealth of practical guidance is provided, and applications are described in areas such as electrochemistry, corrosion and batteries, nanocrystal growth, biomineralization, biomaterials and biological processes, beam-induced processing, and fluid physics. The book also looks ahead to the future development of the technique, discussing technical advances that will enable higher resolution, analytical microscopy, and even holography of liquid samples. This is essential reading for researchers and pTable of ContentsPart I. Technique: 1. Past, present and future electron microscopy of liquid specimens Niels de Jonge and Frances M. Ross; 2. Encapsulated liquid cells for transmission electron microscopy Eric Jensen and Kristian Mølhave; 3. Imaging liquid processes using open cells in the TEM, SEM, and beyond Chongmin Wang; 4. Membrane based environmental cells for SEM in liquids Andrei Kolmakov; 5. Observations in liquids using an inverted SEM Chikara Sato and Mitsuo Suga; 6. Temperature control in liquid cells for TEM Shen J. Dillon and Xin Chen; 7. Electron beam effects in liquid cell TEM and STEM Nicholas M. Schneider; 8. Resolution in liquid cell experiments Niels de Jonge, Nigel Browning, James E. Evans, See Wee Chee and Frances M. Ross; Part II. Applications: 9. Nanostructure growth, interactions and assembly in the liquid phase Hong-Gang Liao, Kai-Yang Niu and Haimei Zheng; 10. Quantifying electrochemical processes using liquid cell TEM Frances M. Ross; 11. Application of electrochemical liquid cells for electrical energy storage and conversion studies Raymond R. Unocic and Karren L. More; 12. Applications of liquid cell TEM in corrosion science See Wee Chee and M. Grace Burke; 13. Nanoscale water imaged by liquid cell TEM Utkur Mirsaidov and Paul Matsudaira; 14. Nanoscale deposition and etching of materials using focused electron beams and liquid reactants Eugenii U. Donev, Matthew Bresin and J. Todd Hastings; 15. Liquid cell TEM for studying environmental and biological mineral systems Michael H. Nielsen and James J. De Yoreo; 16. Liquid STEM for studying biological function in whole cells Diana B. Peckys and Niels de Jonge; 17. Visualizing macromolecules in liquid at the nanoscale Andrew C. Demmert, Madeline J. Dukes, Elliot Pohlmann, Kaya Patel, A. Cameron Varano, Zhi Sheng, Sarah M. McDonald, Michael Spillman, Utkur Mirsaidov, Paul Matsudaira and Deborah F. Kelly; 18. Application of liquid cell microscopy to study function of muscle proteins Haruo Sugi, Shigeru Chaen, Tsuyoshi Akimoto, Masaru Tanokura, Takuya Miyakawa and Hiroki Minoda; Part III. Prospects: 19. High resolution imaging in the graphene liquid cell Jungwon Park, Vivekananda P. Adiga, Alex Zettl and A. Paul Alivisatos; 20. Analytical electron microscopy during in situ liquid cell studies Megan E. Holtz, David A. Muller and Nestor J. Zaluzec; 21. Spherical and chromatic aberration correction for atomic-resolution liquid cell electron microscopy Rafal E. Dunin-Borkowski and Lothar Houben; 22. The potential for imaging dynamic processes in liquids with high temporal resolution Nigel D. Browning and James E. Evans; 23. Future prospects for biomolecular, biomimetic and biomaterials research enabled by new liquid cell electron microscopy techniques Taylor Woehl and Tanya Prozorov.

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Book SynopsisPublisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality, authenticity, or access to any online entitlements included with the product.The Go-To Reference for Chemists for More Than 70 Years â Completely Updated to Include Todayâs Essential TopicsLangeâs Handbook of Chemistry, Seventeenth Edition is written to provide a reliable one-stop source of factual information for todayâs working chemist. Within its pages, you will find an unmatched compilation of facts, data, tabular material, and experimental findings that span every area of chemistry. Included in this fully updated Seventeenth Edition are listings of the properties of more than 4,000 organic and 1,400 inorganic compounds.The Seventeenth Edition is enhanced by the addition of an all-new section on Naturally Occurring Chemicals and Chemical Sources. This t

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Book SynopsisPublisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality,  authenticity, or access to any online entitlements included with the product.The definitive reference on the role of steam in the production and operation of power plants for electric generation and industrial process applicationsFor more than 80 years, Steam Plant Operation has been an unmatched source of information on steam power plants, including design, operation, and maintenance. The Tenth Edition emphasizes the importance of devising a comprehensive energy plan utilizing all economical sources of energy, including fossil fuels, nuclear power, and renewable energy sources. This trusted classic discusses the important role that steam plays in our power production and identifies the associated risks and potential problems of other energy sources. You will find concise explanations of key concepts, fr

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Book SynopsisPublisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality, authenticity, or access to any online entitlements included with the product.Master the art and science of foundation engineeringThis civil engineering textbook shows how geotechnical theory connects with the design and construction of todayâs foundations. Foundation Engineering: Geotechnical Principles and Practical Applications shows how to perform critical calculations, apply the newest ground modification technologies, engineer and build effective foundations, and monitor performance and safety. Written by a recognized expert in the field, the book covers both shallow and deep foundations. Real-world case studies and practice problems help reinforce key information.Coverage includes:â Soil classification, clay, and mineralsâ Moisture content and unit weightâ Shear strengthâ

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Book Synopsis Publisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality, authenticity, or access to any online entitlements included with the product. Ace the Major HVAC Licensing Exams! Featuring more than 800 accurate practice questions and answers, HVAC Licensing Study Guide, Third Edition, provides everything you need to prepare for and pass the major HVAC licensing exams. This highly-effective, career-building study resource is filled with essential calculations, troubleshooting tips for the job site, hundreds of detailed illustrations, and information on the latest codes and standards. You will get brand-new coverage of troubleshooting for small motors and ele

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