Mechanical engineering Books

Book SynopsisWhen installed and operated properly, general purpose steam turbines are reliable and tend to be forgotten, i.e., out of sound and out of mind. But, they can be sleeping giants that can result in major headaches if ignored. Three real steam turbine undesirable consequences that immediately come to mind are: Injury and secondary damage due to an overspeed failure. Anoverspeed failureon a big steam or gas turbine is one of the most frightening of industrial accidents. The high cost of an extensive overhaul due to an undetected component failure. A major steam turbine repair can cost ten or more times that of a garden variety centrifugal pump repair. Costly production loses due an extended outage if the driven pump or compressor train is unspared. The value of lost production can quickly exceed repair costs. A major goal of this book is to provide readers with detailed operating procedure aimed at reducing these risks to minimal levels. StarTable of ContentsPreface xiii Acknowledgements xix 1 Introduction to Steam Turbines 1 1.1 Why Do We Use Steam Turbines? 1 1.2 How Steam Turbines Work 2 1.2.1 Steam Generation 5 1.2.2 Waste Heat Utilization 5 1.2.3 The Rankine Cycle 7 1.3 Properties of Steam 8 1.3.1 Turbine Design Confi gurations 11 1.4 Steam and Water Requirements 13 1.4.1 Steam Conditions for Steam Turbines 13 1.4.2 Water Conditions for Steam Turbines 13 1.4.3 Advantages of Steam Turbine Drives 14 1.4.4 Speed Control 16 1.4.5 Turbine Overspeed Protection 17 Questions 18 Answers 19 2 General Purpose Back Pressure Steam Turbine 21 2.1 Single-Stage Back Pressure Steam Turbine 22 2.1.1 Steam Flow Path 23 2.2 Mechanical Components in General Purpose Back Pressure Steam Turbines 31 2.2.1 Radial and Th rust Bearings 31 2.2.2 Bearing Lubrication 33 2.2.3 Force Lubrication Systems 37 2.2.4 Lubrication 38 2.2.5 Bering Housing Seals 40 2.2.6 Lip Seals 41 2.2.7 Labyrinth Seals 42 2.2.8 Steam Packing Rings and Seals 44 Questions 48 Answers 49 3 Routine Steam Turbine Inspections 51 Questions 56 Answers 56 4 Steam Turbine Speed Controls and Safety Systems 59 4.1 Introduction 59 4.2 Speed Controls 60 4.3 Governor Classes 68 4.4 Overspeed Trip System 77 4.5 Overpressure Protection 81 4.6 Additional Advice 83 Questions 83 Answers 84 5 The Importance of Operating Procedures 85 5.1 Steam Turbine Start-up Risks 87 5.2 Starting Centrifugal Pumps and Compressors 91 5.3 Steam Turbine Train Procedures 93 5.4 Training Options 95 Questions 97 Answers 98 6 Overspeed Trip Testing 101 6.1 Overspeed Trip Pre-test Checks 104 6.2 Uncoupled Overspeed Trip Test Procedure 106 6.3 Acceptance Criteria for Overspeed Trip Test 110 Questions 113 Answers 114 7 Centrifugal Pump and Centrifugal Compressor Start-ups with a Steam Turbine Driver 115 7.1 Centrifugal Pump and Steam Turbine Start-up 117 7.2 Centrifugal Compressor and Steam Turbine Start-up 125 Questions 134 Answers 134 8 Centrifugal Pump and Centrifugal Compressor Shutdowns with a Steam Turbine Driver 137 8.1 Centrifugal Pump Steam Turbine Shutdown 139 8.2 Centrifugal Compressor Steam Turbine Shutdown 141 Questions 144 Answers 145 9 Installation, Commissioning and First Solo Run 147 9.1 Introduction 147 9.2 Equipment Installation 148 9.2.1 Foundations 148 9.2.2 Grouting 150 9.2.3 Piping 157 9.3 Commissioning 160 9.3.1 Steam Blowing 162 9.3.2 Strainers 165 9.3.3 Lubrication 167 9.3.4 Oil Sump Lubrication 167 9.3.5 Flushing Pressure Lubricated System 169 9.3.6 Hydraulic Governors 172 9.4 Turbine First Solo Run on Site 174 9.4.1 First Solo Run Pre-checks 175 9.4.2 Steam Turbine First Solo Run Procedure 179 Questions 186 Answers 187 10 Reinstating Steam Turbine after Maintenance 189 10.1 Turbine Reinstatment after Maintenance 189 10.2 Reinstatement after Maintenance Check List 190 10.3 Steam Turbine Reinstatement after Maintenance Procedure 194 Questions 201 Answers 202 11 Steam Turbine Reliability 205 11.1 Repairs versus Overhauls 205 11.2 Expected Lifetimes of Steam Turbines and Their Components 206 11.3 Common Failure Modes 207 11.4 Improvement Reliability by Design 211 Questions 214 Answers 215 12 Introduction to Field Troubleshooting 217 12.1 Common Symptoms 219 12.2 Common Potential Causes 219 12.3 Troubleshooting Example #1 222 12.4 Troubleshooting Example #2 223 12.5 Steam Turbine Troubleshooting Table 225 12.6 Other Troubleshooting Approaches 229 Questions 231 Answers 232 13 Steam Turbine Monitoring Advice 235 13.1 What Is the Steam Turbine Speed Telling You? 236 13.1.1 Is the Steam Turbine Running at the Correct Speed? 236 13.1.2 Is the Speed Steady? 237 13.1.3 Is a Speed Swing Acceptable? 237 13.2 Assessing Steam Turbine Vibrations 238 13.2.1 What is Normal? 238 13.2.2 What are Some Causes of Vibration in Steam Turbines? 239 13.3 Steam Turbine Temperature Assessments 243 13.3.1 Bearing Temperatures 243 13.3.2 Oil Temperatures 243 13.4 Common Governor Control Problems 244 13.4.1 Steam Turbine Loss of Power 245 13.4.2 Steam Turbine Sealing 245 13.4.3 Oil Analysis as it Applies to Steam Turbines 247 13.4.4 Formation of Sludge and Varnish 248 13.4.5 Steam Piping and Supports 249 13.4.6 Steam Turbine Supports 250 13.4.7 Overspeed Trip Systems 251 13.5 Other Inspections 252 13.6 Good Rules of Th umb for Steam Turbines 253 Questions 255 Answers 256 14 Beyond Start-ups, Shutdowns, and Inspections 257 Appendix A: An Introduction to Steam Turbine Selection 261 Appendix B: Glossary of Steam Turbine Terms 289 Appendix C: Predictive and Preventative Maintenance Activities 299 Appendix D: Properties of Saturated Steam 301 Index 305

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Book SynopsisA comprehensive source of generalized design data for most widely used fin surfaces in CHEs Compact Heat Exchanger Analysis, Design and Optimization: FEM and CFD Approach brings new concepts of design data generation numerically (which is more cost effective than generic design data) and can be used by design and practicing engineers more effectively. The numerical methods/techniques are introduced for estimation of performance deteriorations like flow non-uniformity, temperature non-uniformity, and longitudinal heat conduction effects using FEM in CHE unit level and Colburn j factors and Fanning friction f factors data generation method for various types of CHE fins using CFD. In addition, worked examples for single and two-phase flow CHEs are provided and the complete qualification tests are given for CHEs use in aerospace applications. Chapters cover: Basic Heat Transfer; Compact Heat Exchangers; Fundamentals of Finite Element and Finite Volume Methods; Finite Element Analysis ofTable of ContentsPreface xiii Series Preface xv 1 Basic Heat Transfer 1 1.1 Importance of Heat Transfer 1 1.2 Heat Transfer Modes 2 1.3 Laws of Heat Transfer 3 1.4 Steady-State Heat Conduction 4 1.4.1 One-Dimensional Heat Conduction 5 1.4.2 Three-Dimensional Heat Conduction Equation 7 1.4.3 Boundary and Initial Conditions 10 1.5 Transient Heat Conduction Analysis 11 1.5.1 Lumped Heat Capacity System 11 1.6 Heat Convection 13 1.6.1 Flat Plate in Parallel Flow 14 1.6.1.1 Laminar Flow Over an Isothermal Plate 14 1.6.1.2 Turbulent Flow over an Isothermal Plate 16 1.6.1.3 Boundary Layer Development Over Heated Plate 17 1.6.2 Internal Flow 18 1.6.2.1 Hydrodynamic Considerations 19 1.6.2.2 Flow Conditions 19 1.6.2.3 Mean Velocity 20 1.6.2.4 Velocity Profile in the Fully Developed Region 21 1.6.3 Forced Convection Relationships 23 1.7 Radiation 28 1.7.1 Radiation – Fundamental Concepts 30 1.8 Boiling Heat Transfer 35 1.8.1 Flow Boiling 36 1.9 Condensation 38 1.9.1 Film Condensation 39 1.9.2 Drop-wise Condensation 39 Nomenclature 40 Greek Symbols 42 Subscripts 42 References 43 2 Compact Heat Exchangers 45 2.1 Introduction 45 2.2 Motivation for Heat Transfer Enhancement 46 2.3 Comparison of Shell and Tube Heat Exchanger 48 2.4 Classification of Heat Exchangers 49 2.5 Heat Transfer Surfaces 51 2.5.1 Rectangular Plain Fin 52 2.5.2 Louvred-Fin 52 2.5.3 Strip-Fin or Lance and Offset Fin 53 2.5.4 Wavy-Fin 53 2.5.5 Pin-Fin 53 2.5.6 Rectangular Perforated Fin 54 2.5.7 Triangular Plain Fin 54 2.5.8 Triangular Perforated Fin 54 2.5.9 Vortex Generator 55 2.6 Heat Exchanger Analysis 56 2.6.1 Use of the Log Mean Temperature Difference 58 2.6.1.1 Parallel-Flow Heat Exchanger 59 2.6.1.2 Counter-Flow Heat Exchanger 62 2.6.2 Effectiveness-NTU Method 65 2.6.3 Effectiveness-NTU Relations 69 2.6.4 Evaluation of Heat Transfer and Pressure Drop Data 73 2.6.4.1 Flow Properties and Dimensionless Numbers 73 2.6.4.2 Data Curves for j andf 75 2.7 Plate-Fin Heat Exchanger 77 2.7.1 Description 77 2.7.2 Geometric Characteristics 78 2.7.3 Correlations for Offset Strip Fin (OSF) Geometry 81 2.8 Finned-Tube Heat Exchanger 81 2.8.1 Geometrical Characteristics 82 2.8.2 Correlations for Circular-Finned-Tube Geometry 84 2.8.3 Pressure Drop 85 2.8.4 Correlations for Louvred Plate-Fin Flat-Tube Geometry 86 2.8.5 Louvre-Fin-Type Flat-Tube Plate-Fin Heat Exchangers 90 2.8.5.1 Geometric Characteristics 91 2.8.5.2 Correlations for Louvre Fin Geometry 93 2.9 Plate-Fin Exchangers Operating Limits 93 2.10 Plate-Fin Exchangers – Monitoring and Maintenance 94 2.10.1 Advantage 95 2.10.2 Disadvantages 95 Nomenclature 95 Greek Symbols 97 Subscripts 98 References 98 3 Fundamentals of Finite Element and Finite Volume Methods 101 3.1 Introduction 101 3.2 Finite Element Method 101 3.2.1 Finite Element Form of the Conduction Equation 103 3.2.2 Elements and Shape Functions 104 3.2.3 Two-Dimensional Linear Triangular Elements 109 3.2.3.1 Area Coordinates 112 3.2.4 Formulation for the Heat Conduction Equation 114 3.2.4.1 Variational Approach 115 3.2.4.2 Galerkin Method 118 3.2.5 Requirements for Interpolation Functions 119 3.2.6 Plane Wall with a Heat Source – Solution by Quadratic Element 128 3.2.7 Two-Dimensional Plane Problems 130 3.2.7.1 Triangular Elements 131 3.2.8 Finite Element Method-Transient Heat Conduction 141 3.2.8.1 Galerkin Method for Transient Heat Conduction 142 3.2.9 Time Discretization using the Finite Element Method 145 3.2.10 Finite Element Method for Heat Exchangers 146 3.2.10.1 Governing Equations 146 3.2.10.2 Finite Element Formulation 148 3.3 Finite Volume Method 164 3.3.1 Navier–Stokes Equations 165 3.3.1.1 Conservation of Momentum 168 3.3.1.2 Energy Equation 171 3.3.1.3 Non-Dimensional Form of the Governing Equations 173 3.3.1.4 Forced Convection 174 3.3.1.5 Natural Convection (Buoyancy-Driven Convection) 175 3.3.1.6 Mixed Convection 177 3.3.1.7 Transient Convection – Diffusion Problem 177 3.3.2 Boundary Conditions 178 Nomenclature 178 Greek Symbols 179 Subscripts 179 References 179 4 Finite Element Analysis of Compact Heat Exchangers 183 4.1 Introduction 183 4.2 Finite Element Discretization 184 4.3 Governing Equations 184 4.4 Finite Element Formulation 189 4.4.1 Cross Flow Plate-Fin Heat Exchanger 189 4.4.2 Counter Flow/Parallel Flow Plate-Fin Heat Exchangers 193 4.4.3 Cross Flow Tube-Fin Heat Exchanger 194 4.5 Longitudinal Wall Heat Conduction Effects 195 4.5.1 General 195 4.5.2 Validation 198 4.5.3 Cross Flow Plate-Fin Heat Exchanger 199 4.5.4 Cross Flow Tube-Fin Heat Exchanger 200 4.5.5 Parallel Flow Heat Exchanger 206 4.5.6 Counter Flow Heat Exchanger 206 4.5.7 Relative Comparison of Results 207 4.6 Inlet Flow Non-Uniformity Effects 207 4.6.1 General 207 4.6.2 Validation 214 4.6.3 Cross Flow Plate-Fin Heat Exchanger 215 4.6.4 Cross Flow Tube-Fin Heat Exchanger 221 4.6.5 Pressure Drop Variations – Flow Non-Uniformity 224 4.7 Inlet Temperature Non-Uniformity Effects 228 4.7.1 General 228 4.7.2 Validation 229 4.7.3 Cross Flow Plate-Fin Heat Exchanger 229 4.7.4 Cross Flow Tube-Fin Heat Exchanger 233 4.8 Combined Effects of Longitudinal Heat Conduction, Inlet Flow Non-Uniformity and Temperature Non-Uniformity 235 4.8.1 General 235 4.8.2 Validation 237 4.8.3 Combined Effects of Longitudinal Wall Heat Conduction and Inlet Flow Non-Uniformity 238 4.8.3.1 Cross Flow Plate-Fin Heat Exchanger – Combined Effects (LHC, FN) 238 4.8.3.2 Cross Flow Tube-Fin Heat Exchanger – Combined Effects (LHC, FN) 243 4.8.4 Combined Effects of Longitudinal Wall Heat Conduction, Inlet Flow Non-Uniformity and Temperature Non-Uniformity 247 4.8.4.1 Cross Flow Plate-Fin Heat Exchanger – Combined Effects (LHC, FN, TN) 251 4.8.4.2 Cross Flow Tube-Fin Heat Exchanger – Combined Effects (LHC, FN, TN) 257 4.8.5 Combined Effects of Inlet Flow Non-Uniformity and Temperature Non-Uniformity 260 4.8.5.1 Cross Flow Plate-Fin Heat Exchanger 263 4.8.5.2 Cross Flow Tube-Fin Heat Exchanger 267 4.9 FEM Analysis of Micro Compact Heat Exchangers 273 4.9.1 Governing Equations and Finite Element Formulation 277 4.10 Influence of Heat Conduction from Horizontal Tube in Pool Boiling 282 4.10.1 General 282 4.10.2 Governing Equations 284 4.10.3 Finite Element Analysis 285 4.10.3.1 One-Dimensional Case 286 4.10.3.2 Two-Dimensional Case (Axial and Radial) 286 4.10.3.3 Two-Dimensional Case (Azimuthal and Radial) 287 4.10.3.4 Three-Dimensional Case 287 4.10.4 Results 288 4.10.4.1 One-Dimensional Heat Conduction Case 290 4.10.4.2 Two-Dimensional Heat Conduction Case 292 4.10.4.3 Three-Dimensional Heat Conduction Case 293 4.11 Closure 298 Nomenclature 299 Greek Symbols 301 Subscripts 302 References 303 5 Generation of Design Data – Finite Volume Analysis 307 5.1 Introduction 307 5.2 Plate Fin Heat Exchanger 307 5.3 Heat Transfer Surfaces 308 5.3.1 Lance and Offset Fins 308 5.3.2 Wavy Fins 308 5.3.3 Rectangular Plain Fins 309 5.3.4 Rectangular Perforated Fins 310 5.3.5 Triangular Plain Fins 311 5.3.6 Triangular Perforated Fins 311 5.4 Performance Characteristic Curves 311 5.4.1 Working Fluids 312 5.5 CFD Analysis 312 5.5.1 Pre-Processor 313 5.5.2 Main Solver 313 5.5.3 Post-Processor 313 5.5.4 Errors and Uncertainty in CFD Modelling 313 5.6 CFD Approach 314 5.6.1 Mathematical Model 315 5.6.2 Governing Equations 315 5.6.3 Assumptions 316 5.6.4 Boundary Conditions 316 5.6.4.1 Inlet Boundary Conditions 317 5.6.4.2 Outlet Boundary Conditions 317 5.6.4.3 Wall Boundary Conditions 318 5.6.4.4 Constant Pressure Boundary Condition 318 5.6.4.5 Symmetric Boundary Condition 318 5.6.4.6 Periodic Boundary Condition 318 5.6.5 Turbulence Models 318 5.7 Numerical Simulation 319 5.7.1 Transient Analysis 320 5.7.1.1 Data Reduction and Validation 321 5.7.2 Steady State Analysis 328 5.7.2.1 Wavy Fin 328 5.7.2.2 Offset Fins 334 5.7.2.3 Rectangular Plain Fin 337 5.7.2.4 Rectangular Perforated Fin 344 5.7.2.5 Triangular Plain Fin Surface 350 5.7.2.6 Triangular Perforated Fin Surface 356 5.7.3 Flow Non-Uniformity Analysis 362 5.7.4 Characterization of CHE Fins for Two-Phase Flow 366 5.7.4.1 Experimental Set-Up 367 5.7.4.2 Brazed Test Core 368 5.7.4.3 Boiling Heat Transfer Coefficient 370 5.7.4.4 Two-Phase Condensation 374 5.7.5 Estimation of Endurance Life of Compact Heat Exchanger 377 5.7.5.1 Computational Analysis 378 5.7.5.2 CFD Analysis of CHE 378 5.7.5.3 Endurance Life Estimation 382 5.7.5.4 Fatigue Life Estimation 382 5.7.5.5 Effect of Creep 383 5.7.5.6 Results of Endurance Life 384 5.8 Closure 385 Nomenclature 388 Greek Symbols 391 Subscripts 391 References 392 6 Thermal and Mechanical Design of Compact Heat Exchanger 399 6.1 Introduction 399 6.2 Basic Concepts and Initial Size Assessment 400 6.2.1 Effectiveness Method 400 6.2.2 Inverse Relationships 403 6.2.3 LMTD Method 403 6.3 Overall Conductance 407 6.3.1 Fin Efficiency and Surface Effectiveness 409 6.4 Pressure Drop Analysis 410 6.4.1 Single Phase Pressure Drop 410 6.4.2 Two-Phase Pressure Loss 413 6.4.2.1 Two-Phase Frictional Losses 414 6.4.2.2 Two-Phase Momentum Losses – Change of Quality 416 6.4.2.3 Two-Phase Gravitational Losses – Upward Flow (Boiling) 416 6.4.2.4 Downward Flow (Condensation) 417 6.5 Two-Phase Heat Transfer 417 6.5.1 Condensation 418 6.5.1.1 All Liquid Heat Transfer Coefficient 418 6.5.1.2 Correction for the Vapour Volume 418 6.5.1.3 Correction for the Multicomponent Streams 419 6.5.2 Evaporation 419 6.5.2.1 Reynolds Number Calculation 420 6.5.2.2 Determine j and f Factors 420 6.5.2.3 Heat Transfer Coefficient Calculation for Quality between 0 and 0.95 420 6.5.2.4 Heat Transfer Coefficient for High and Low Values of Quality 421 6.6 Useful Relations for Surface and Core Geometry 421 6.7 Core Design (Mechanical Design) 424 6.7.1 Fins 424 6.7.2 Separating/Parting Sheets 424 6.7.3 Cap Sheets 424 6.7.4 Headers 424 6.7.5 Supports 425 6.7.6 Fin Minimum Thickness 425 6.7.7 Parting/Separating and Cap Sheets Minimum Thickness 426 6.7.8 Side-Bar Minimum Thickness 426 6.7.9 Headers Minimum Thickness 427 6.8 Procedure for Sizing a Heat Exchanger 427 6.9 Design Procedure of a Typical Compact Heat Exchanger 430 6.10 Worked Examples 434 6.10.1 Example 1: Direct Transfer Heat Exchanger 434 6.10.2 Example 2: Two-Pass Cross Flow Heat Exchanger 442 6.10.3 Example 3: Compact Evaporator Design 450 6.10.4 Example 4: Compact Condenser Design 451 Nomenclature 454 Greek Symbols 456 Subscripts 457 References 457 7 Manufacturing and Qualification Testing of Compact Heat Exchangers 461 7.1 Construction of Brazed Plate-Fin Heat Exchanger 461 7.2 Construction of Diffusion-Bonded Plate-Fin Heat Exchanger 461 7.3 Brazing 464 7.3.1 Operations in Brazing 465 7.3.2 Brazing Filler Metals 469 7.3.3 Brazing Processes 469 7.3.4 Vacuum Brazing 470 7.3.4.1 Brazing of Aluminium and its Alloys 470 7.3.4.2 Brazing of Stainless Steels 474 7.3.4.3 Brazing of Super Alloys 475 7.3.5 Vacuum Furnace Brazing Cycles 476 7.3.5.1 Vacuum Level during Brazing 477 7.3.5.2 Cooling Gases 477 7.3.5.3 Post Brazing Inspection 478 7.4 Influence of Brazing on Heat Transfer and Pressure Drop 478 7.5 Testing and Qualification of Compact Heat Exchangers 479 7.5.1 Acceptance Tests 480 7.5.1.1 Thermal Performance and Pressure Drop Test 480 7.5.1.2 Pressure Drop Test 484 7.5.1.3 Leakage Test 484 7.5.1.4 Proof Pressure Test 484 7.5.2 Qualification Tests 485 7.5.2.1 Vibration Test 485 7.5.2.2 Combined Pressure, Temperature and Flow Cycling 487 7.5.2.3 Experimental Evaluation of Endurance Life of Compact Heat Exchanger 488 7.5.2.4 Pressure Cycling Test 490 7.5.2.5 Thermal Shock Test 491 7.5.2.6 Acceleration Test 491 7.5.2.7 Shock Test 491 7.5.2.8 Humidity Test 492 7.5.2.9 Fungus Test 493 7.5.2.10 Salt Fog Test 493 7.5.2.11 Freeze and Thaw 493 7.5.2.12 Rain Resistance 493 7.5.2.13 Sand and Dust 494 7.5.2.14 Shock Test (Arrestor Landing) 494 7.5.2.15 Gunfire Vibration Test 494 7.5.2.16 Burst Pressure Test 495 References 496 Appendices 497 A.1 Derivation of Fourier Series Mathematical Equation 497 A.2 Molar, Gas and Critical Properties 501 A.3 Thermo-Physical Properties of Gases at Atmospheric Pressure 502 A.4 Properties of Solid Materials 509 A.5 Thermo-Physical Properties of Saturated Fluids 515 A.6 Thermo-Physical Properties of Saturated Water 518 A.7 Solar Radiative Properties of Selected Materials 521 A.8 Thermo-Physical Properties of Fluids 522 References 524 Index 525

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Book SynopsisA comprehensive and versatile treatment of an important and complex topic in vehicle design Written by an expert in the field with over 30 years of NVH experience, Noise and Vibration Control of Automotive Body offers nine informative chapters on all of the core knowledge required for noise, vibration, and harshness engineers to do their job properly. It starts with an introduction to noise and vibration problems; transfer of structural-borne noise and airborne noise to interior body; key techniques for body noise and vibration control; and noise and vibration control during vehicle development. The book then goes on to cover all the noise and vibration issues relating to the automotive body, including: overall body structure; local body structure; sound package; excitations exerted on the body and transfer functions; wind noise; body sound quality; body squeak and rattle; and the vehicle development process for an automotive body. Vehicle noise and vibration is one of the most impoTable of ContentsPreface xiii 1 Introduction 1 1.1 Automotive Body Structure and Noise and Vibration Problems 1 1.1.1 Automotive Body Structure 1 1.1.2 Noise and Vibration Problems Caused by Body Frame Structure 7 1.1.3 Noise and Vibration Problems Caused by Body Panel Structure 8 1.1.4 Interior Trimmed Structure and Sound Treatment 8 1.1.5 Noise and Vibration Problems Caused by Body Accessory Structures 9 1.2 Transfer of Structural‐Borne Noise and Airborne Noise to Interior 10 1.2.1 Description of Vehicle Noise and Vibration Sources 10 1.2.2 Structural‐Borne Noise and Airborne Noise 11 1.2.3 Transfer of Noise and Vibration Sources to Interior 13 1.3 Key Techniques for Body Noise and Vibration Control 14 1.3.1 Vibration and Control of Overall Body Structure 15 1.3.2 Vibration and Sound Radiation of Body Local Structures 17 1.3.3 Sound Package for Vehicle Body 24 1.3.4 Body Noise and Vibration Sensitivity 28 1.3.5 Wind Noise and Control 32 1.3.6 Door Closing Sound Quality and Control 35 1.3.7 Squeak and Rattle of Vehicle Body 38 1.4 Noise and Vibration Control During Vehicle Development 39 1.4.1 Modal Frequency Distribution for Vehicle Body 40 1.4.2 Body NVH Target System 41 1.4.3 Execution of Body NVH Targets 42 1.5 Structure of This Book 42 2 Vibration Control of Overall Body Structure 45 2.1 Introduction 45 2.1.1 Overall Body Stiffness 45 2.1.2 Overall Body Modes 48 2.1.3 Scopes of Overall Body Vibration Research 50 2.2 Overall Body Stiffness 51 2.2.1 Body Bending Stiffness 52 2.2.2 Body Torsional Stiffness 57 2.3 Control of Overall Body Stiffness 61 2.3.1 Overall Layout of a Body Structure 62 2.3.2 Body Frame Cross‐Section and Stiffness Analysis 65 2.3.3 Joint Stiffness 67 2.3.4 Influence of Adhesive Bonding Stiffness on Overall Body Stiffness 71 2.3.5 Contribution Analysis of Beams and Joints on Overall Body Stiffness 72 2.4 Identification of Overall Body Modes 75 2.4.1 Foundation of Modal Analysis 75 2.4.2 Modal Shape and Frequency of Vehicle Body 78 2.4.3 Modal Testing for Vehicle Body 84 2.4.4 Calculation of Vehicle Body Mode 89 2.5 Control of Overall Body Modes 91 2.5.1 Separation and Decoupling of Body Modes 91 2.5.2 Planning Table/Chart of Body Modes 93 2.5.3 Control of Overall Body Modes 98 Bibliography 101 3 Noise and Vibration Control for Local Body Structures 103 3.1 Noise and Vibration Problems Caused by Vehicle Local Structures 103 3.1.1 Classification and Modes of Local Body Structures 103 3.1.2 Noise and Vibration Problems Generated by Local Modes 104 3.1.3 Control Strategy for Local Modes 111 3.2 Body Plate Vibration and Sound Radiation 112 3.2.1 Vibration of Plate Structure 113 3.2.2 Sound Radiation of Plate Structure 116 3.3 Body Acoustic Cavity Mode 120 3.3.1 Definition and Shapes of Acoustic Cavity Mode 120 3.3.2 Theoretical Analysis and Measurement of Acoustic Cavity Mode 122 3.3.3 Coupling of Acoustic Cavity Mode and Structural Mode 129 3.3.4 Control of Acoustic Cavity Mode 130 3.4 Panel Contribution Analysis 131 3.4.1 Concept of Panel Contribution 131 3.4.2 Contribution Analysis of Panel Vibration and Sound Radiation 132 3.4.3 Testing Methods for Panel Vibration and Sound Radiation 136 3.5 Damping Control for Structural Vibration and Sound Radiation 145 3.5.1 Damping Phenomenon and Description 145 3.5.2 Damping Models 146 3.5.3 Loss Factor 149 3.5.4 Characteristics of Viscoelastic Damping Materials 150 3.5.5 Classification of Body Damping Materials and Damping Structures 153 3.5.6 Measurement of Damping Loss Factor 157 3.5.7 Application of Damping Materials and Structures on Vehicle Body 159 3.6 Stiffness Control for Body Panel Vibration and Sound Radiation 162 3.6.1 Mechanism of Stiffness Control 164 3.6.2 Tuning of Plate Stiffness 166 3.6.3 Influence of Plate Stiffness Tuning on Sound Radiation 170 3.6.4 Case Study of Body Stiffness Tuning 170 3.7 Mass Control for Body Panel Vibration and Sound Radiation 175 3.7.1 Mechanism of Mass Control 175 3.7.2 Application of Mass Control 175 3.8 Damper Control for Body Vibration and Sound Radiation 179 3.8.1 Mechanism of Dynamic Damper 179 3.8.2 Application of Dynamic Damper to Attenuate Interior Booming 181 3.9 Noise and Vibration for Body Accessory Components 182 3.9.1 Bracket Mode and Control 182 3.9.2 Control of Steering System Vibration 185 3.9.3 Control of Seat Vibration 190 Bibliography 195 4 Sound Package 201 4.1 Introduction 201 4.1.1 Transfer of Airborne‐Noise to Passenger Compartment 201 4.1.2 Scopes of Sound Package Research 202 4.2 Body Sealing 203 4.2.1 Importance of Sealing 203 4.2.2 Static Sealing and Dynamic Sealing 207 4.2.3 Measurement of Static Sealing 207 4.2.4 Control of Static Sealing 210 4.3 Sound Absorptive Materials 216 4.3.1 Sound Absorption Mechanism and Sound Absorption Coefficient 216 4.3.2 Porous Sound Absorptive Material 217 4.3.3 Resonant Sound Absorption Structure 222 4.3.4 Measurement of Sound Absorption Coefficient 224 4.4 Sound Insulation Materials and Structures 229 4.4.1 Mechanism of Sound Insulation and Sound Transmission Loss 229 4.4.2 Sound Insulation of Single Plate 230 4.4.3 Sound Insulation of Double Plate 233 4.4.4 Measurement of Sound Insulation Materials 236 4.5 Application of Sound Package 240 4.5.1 Application of Sound Absorptive Materials and Structures 241 4.5.2 Application of Combination of Sound Insulation Structures and Sound Absorptive Materials 247 4.5.3 Application of Sound Baffle Material 252 4.6 Statistical Energy Analysis and Its Application 254 4.6.1 Concepts of Statistical Energy Analysis 255 4.6.2 Theory of Statistical Energy Analysis 256 4.6.3 Assumptions and Applications of Statistical Energy Analysis 258 4.6.4 Loss Factor 260 4.6.5 Input Power 263 4.6.6 Application of Statistical Energy Analysis on Vehicle Body 264 Bibliography 267 5 Vehicle Body Sensitivity Analysis and Control 273 5.1 Introduction 273 5.1.1 System and Transfer Function 273 5.1.2 Vibration and Sound Excitation Points on Vehicle Body 275 5.1.3 Response Points 278 5.1.4 Body Sensitivity 278 5.2 Source– Transfer Path–Response Model for Vehicle Body 280 5.2.1 Source–Transfer Path–Response Model 280 5.2.2 Source–Transfer Function–Vibration Model for Vehicle Body 280 5.2.3 Source−Transfer Function−Noise Model for Vehicle Body 281 5.3 Characteristics and Analysis of Noise and Vibration Sources 284 5.3.1 Excitation Characteristics of Engine and Related Systems 284 5.3.2 Excitation Characteristics of Drivetrain System 286 5.3.3 Excitation Characteristics of Tires 291 5.3.4 Excitation Characteristics of Rotary Machines 293 5.3.5 Excitation Characteristics of Random or Impulse Inputs 294 5.4 Dynamic Stiffness and Input Point Inertance 295 5.4.1 Mechanical Impedance and Mobility 295 5.4.2 Driving Point Dynamic Stiffness 296 5.4.3 IPI and Driving Point Dynamic Stiffness 298 5.4.4 Control of Driving Point Dynamic Stiffness 301 5.5 Vibration− Vibration Sensitivity and Sound−Vibration Sensitivity 304 5.5.1 Transfer Processing of Vibration Sources to Interior Vibration and Vibration−Vibration Sensitivity 304 5.5.2 Transfer Processing of Vibration Sources to Interior Noise and Sound−Vibration Sensitivity 308 5.5.3 Sensitivity Control 311 5.5.4 Sensitivity Targets 315 5.6 Sound− Sound Sensitivity and Control 316 5.6.1 Sound Transmission from Outside Body to Interior 316 5.6.2 Expression of Sound−Sound Sensitivity 317 5.6.3 Targets and Control of Sound−Sound Sensitivity 322 Bibliography 323 6 Wind Noise 327 6.1 Introduction 327 6.1.1 Problems Induced by Wind Noise 327 6.1.2 Sound Sources and Classification of Wind Noise 328 6.2 Mechanism of Wind Noise 331 6.2.1 Pulsating Noise 331 6.2.2 Aspiration Noise 333 6.2.3 Buffeting Noise 336 6.2.4 Cavity Noise 338 6.3 Control Strategy for Wind Noise 339 6.3.1 Transfer Paths of Wind Noise 339 6.3.2 Control Strategy of Wind Noise 341 6.4 Body Overall Styling and Wind Noise Control 343 6.4.1 Ideal Body Overall Styling 343 6.4.2 Design of Transition Region between Front Grill and Engine Hook 345 6.4.3 Design in Area between Engine Hood and Front Windshield 346 6.4.4 Design of A‐Pillar Area 347 6.4.5 Design of Transition Area of Roof, Rear Windshield, and Trunk Lid 352 6.4.6 Underbody Design 353 6.4.7 Design in an Area of Wheelhouse and Body Side Panel 354 6.5 Body Local Design and Wind Noise Control 354 6.5.1 Principles for Body Local Structure Design 354 6.5.2 Design of Side Mirror and Its Connection with Body 355 6.5.3 Sunroof Design and Wind Noise Control 359 6.5.4 Antenna Design and Wind Noise Control 361 6.5.5 Design of Roof Luggage Rack 363 6.5.6 Control of Other Appendages and Outside Cavity 364 6.6 Dynamic Sealing and Control 365 6.6.1 Dynamic Sealing and Its Importance 365 6.6.2 Expression for Dynamic Sealing 366 6.6.3 Dynamic Sealing between Door and Body 368 6.6.4 Control of Dynamic Sealing 371 6.7 Measurement and Evaluation of Wind Noise 373 6.7.1 Wind Noise Testing in Wind Tunnel 373 6.7.2 Wind Noise Testing on Road 378 6.7.3 Evaluation of Wind Noise 379 6.8 Analysis of Wind Noise 380 6.8.1 Relationship Between Aerodynamic Acoustics and Classical Acoustics 380 6.8.2 Lighthill Acoustic Analogy Theory 381 6.8.3 Lighthill‐Curl Acoustic Analogy Theory 382 6.8.4 Solution of Aerodynamic Equations 383 6.8.5 Simulation of Wind Noise 383 Bibliography 384 7 Door Closing Sound Quality 389 7.1 Vehicle Sound Quality 389 7.1.1 Concept of Sound Quality 389 7.1.2 Automotive Sound Quality 390 7.1.3 Importance of Automotive Sound Quality 391 7.1.4 Scope of Sound Quality 392 7.2 Evaluation Indexes of Sound Quality 393 7.2.1 Description of Psychoacoustics 393 7.2.2 Evaluation Indexes of Psychoacoustics 395 7.2.3 Critical Band 397 7.2.4 Loudness 398 7.2.5 Sharpness 402 7.2.6 Modulation, Fluctuation, and Roughness 404 7.2.7 Tonality 409 7.2.8 Articulation Index 409 7.2.9 Sound Masking 411 7.3 Evaluation Indexes of Automotive Sound Quality 413 7.3.1 Classification of Automotive Sound Quality 413 7.3.2 Indexes Used to Describe Automotive Sound Quality 415 7.3.3 Indexes Used to Describe System Sound Quality 416 7.4 Evaluation of Door Closing Sound Quality 417 7.4.1 Importance of Door Closing Sound Quality 417 7.4.2 Subjective Evaluation of Door Closing Sound Quality 417 7.4.3 Objective Evaluation of Door Closing Sound Quality 419 7.4.4 Relation between Subjective Evaluation and Objective Evaluation 423 7.5 Structure and Noise Source of Door Closing System 424 7.5.1 Structure of Door Closing System 424 7.5.2 Noise Sources of Door Closing 426 7.6 Control of Door Closing Sound Quality 428 7.6.1 Control of Door Panel Structure 428 7.6.2 Control of Door Lock 430 7.6.3 Control of Sealing System 432 7.7 Design Procedure and Example Analysis for Door Closing Sound Quality 432 7.7.1 Design Procedure for Door Closing Sound Quality 432 7.7.2 Analysis of Factors Influencing on Loudness, Sharpness, and Ring‐Down 434 7.7.3 Example Analysis of Door Closing Sound Quality 435 7.8 Sound Quality for Other Body Components 437 Bibliography 438 8 Squeak and Rattle Control in Vehicle Body 441 8.1 Introduction 441 8.1.1 What Is Squeak and Rattle? 441 8.1.2 Components Generating Squeak and Rattle 442 8.1.3 Importance of Squeak and Rattle 442 8.1.4 Mechanism of Squeak and Rattle 442 8.1.5 Identification and Control of Squeak and Rattle 443 8.2 Mechanism and Influence Factors of Squeak 444 8.2.1 Mechanism of Squeak 444 8.2.2 Factors Influencing Squeak 447 8.3 Mechanism and Influence Factors of Rattle 449 8.3.1 Mechanism of Rattle 449 8.3.2 Factors Influencing Rattle 450 8.4 CAE Analysis of Squeak and Rattle 452 8.4.1 Analysis of Stiffness, Mode, and Deformation of Body and Door 453 8.4.2 Modal Analysis of Body Subsystems 455 8.4.3 Sensitivity Analysis of Squeak and Rattle 458 8.4.4 Dynamic Response Analysis of Squeak and Rattle 460 8.5 Subjective Evaluation and Testing of Squeak and Rattle 461 8.5.1 Subjective Identification and Evaluation of Squeak and Rattle 462 8.5.2 Objective Testing and Analysis of Squeak and Rattle 467 8.6 Control of Body Squeak and Rattle 471 8.6.1 Control Strategy during Vehicle Development 471 8.6.2 Body Structure‐Integrated Design and S&R Control 472 8.6.3 DMU Checking for Body S&R Prevention 476 8.6.4 Matching of Material Friction Pairs 477 8.6.5 Control of Manufacture Processes 478 8.6.6 Squeak and Rattle Issues for High Mileage Vehicle 478 8.6.7 Squeak and Rattle at High Mileage 479 Bibliography 480 9 Targets for Body Noise and Vibration 483 9.1 Target System for Vehicle Noise and Vibration 483 9.1.1 Period for Vehicle Development and Targets 483 9.1.2 Factors Influencing on Target Setting 485 9.1.3 Principles of Target Setting and Cascading 486 9.1.4 Principles of Modal Separation 488 9.1.5 Target System of Body NVH 489 9.2 NVH Targets for Vehicle‐Level Body 490 9.2.1 Vehicle‐Level Body NVH Targets 490 9.2.2 Vibration Targets for Vehicle‐Level Body 490 9.2.3 Noise Targets for Vehicle‐Level Body 491 9.3 NVH Targets for Trimmed Body 492 9.3.1 NVH Characteristics of Trimmed Body 492 9.3.2 Vibration Targets of Trimmed Body 493 9.3.3 Noise Targets for Trimmed Body 493 9.4 NVH Targets for Body‐in‐White 494 9.4.1 NVH Characteristics of BIW 494 9.4.2 Vibration Targets of BIW 495 9.4.3 Noise Target of BIW 496 9.5 NVH Targets for Body Components 496 9.5.1 Component‐Level Vibration Targets 497 9.5.2 Component‐Level Noise Target 497 9.5.3 Noise and Vibration Targets of Door 497 9.6 Execution and Realization of Body Targets 498 9.6.1 Control at Phase of Target Setting and Cascading 498 9.6.2 Target Checking at Milestones 499 9.6.3 CAE Analysis and DMU Checking 500 9.6.4 NVH Control for BIW 501 9.6.5 NVH Control for Trimmed Body and Full Vehicle 501 Bibliography 501 Index 503

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Book SynopsisTable of ContentsPart I Dynamics of Particles 1 1 Introduction to Dynamics 3 1/1 History and Modern Applications 3 1/2 Basic Concepts 4 1/3 Newton’s Laws 5 1/4 Units 6 1/5 Gravitation 7 1/6 Dimensions 10 1/7 Solving Problems in Dynamics 11 1/8 Chapter Review 13 2 Kinematics of Particles 16 2/1 Introduction 16 2/2 Rectilinear Motion 17 2/3 Plane Curvilinear Motion 25 2/4 Rectangular Coordinates (x-y) 27 2/5 Normal and Tangential Coordinates (n-t) 32 2/6 Polar Coordinates (r-𝜽) 37 2/7 Space Curvilinear Motion 42 2/8 Relative Motion (Translating Axes) 47 2/9 Constrained Motion of Connected Particles 51 2/10 Chapter Review 54 3 Kinetics of Particles 56 3/1 Introduction 56 Section A Force, Mass, and Acceleration 57 3/2 Newton’s Second Law 57 3/3 Equation of Motion and Solution of Problems 60 3/4 Rectilinear Motion 62 3/5 Curvilinear Motion 67 Section B Work and Energy 71 3/6 Work and Kinetic Energy 71 3/7 Potential Energy 81 Section C Impulse and Momentum 87 3/8 Introduction 87 3/9 Linear Impulse and Linear Momentum 87 3/10 Angular Impulse and Angular Momentum 93 Section D Special Applications 99 3/11 Introduction 99 3/12 Impact 99 3/13 Central-Force Motion 105 3/14 Relative Motion 112 3/15 Chapter Review 118 4 Kinetics of Systems of Particles 119 4/1 Introduction 119 4/2 Generalized Newton’s Second Law 120 4/3 Work-Energy 121 4/4 Impulse-Momentum 122 4/5 Conservation of Energy and Momentum 126 4/6 Steady Mass Flow 132 4/7 Variable Mass 138 4/8 Chapter Review 144 Part II Dynamics of Rigid Bodies 145 5 Plane Kinematics of Rigid Bodies 147 5/1 Introduction 147 5/2 Rotation 149 5/3 Absolute Motion 154 5/4 Relative Velocity 158 5/5 Instantaneous Center of Zero Velocity 165 5/6 Relative Acceleration 168 5/7 Motion Relative to Rotating Axes 173 5/8 Chapter Review 183 6 Plane Kinetics of Rigid Bodies 184 6/1 Introduction 184 Section A Force, Mass, and Acceleration 186 6/2 General Equations of Motion 186 6/3 Translation 192 6/4 Fixed-Axis Rotation 196 6/5 General Plane Motion 199 Section B Work and Energy 205 6/6 Work-Energy Relations 205 6/7 Acceleration from Work-Energy; Virtual Work 213 Section C Impulse and Momentum 217 6/8 Impulse-Momentum Equations 217 6/9 Chapter Review 225 7 Introduction to Three-Dimensional Dynamics of Rigid Bodies 226 7/1 Introduction 226 Section A Kinematics 227 7/2 Translation 227 7/3 Fixed-Axis Rotation 227 7/4 Parallel-Plane Motion 228 7/5 Rotation about a Fixed Point 228 7/6 General Motion 234 Section B Kinetics 240 7/7 Angular Momentum 240 7/8 Kinetic Energy 243 7/9 Momentum and Energy Equations of Motion 246 7/10 Parallel-Plane Motion 248 7/11 Gyroscopic Motion: Steady Precession 250 7/12 Chapter Review 259 8 Vibration and Time Response 260 8/1 Introduction 260 8/2 Free Vibration of Particles 261 8/3 Forced Vibration of Particles 270 8/4 Vibration of Rigid Bodies 278 8/5 Energy Methods 282 8/6 Chapter Review 286 Appendix A Area Moments of Inertia 287 Appendix B Mass Moments of Inertia 288 B/1 Mass Moments of Inertia about an Axis 288 B/2 Products of Inertia 296 Appendix C Selected Topics of Mathematics 302 C/1 Introduction 302 C/2 Plane Geometry 302 C/3 Solid Geometry 303 C/4 Algebra 303 C/5 Analytic Geometry 304 C/6 Trigonometry 304 C/7 Vector Operations 305 C/8 Series 308 C/9 Derivatives 308 C/10 Integrals 309 C/11 Newton’s Method for Solving Intractable Equations 312 C/12 Selected Techniques for Numerical Integration 314 Appendix D Useful Tables 317 Table D/1 Physical Properties 317 Table D/2 Solar System Constants 318 Table D/3 Properties of Plane Figures 319 Table D/4 Properties of Homogeneous Solids 321 Table D/5 Conversion Factors; SI Units 325 Problems P-1 Chapter 1 P-1 Chapter 2 P-3 Chapter 3 P-41 Chapter 4 P-97 Chapter 5 P-118 Chapter 6 P-152 Chapter 7 P-195 Chapter 8 P-224 Index I-1 Problem Answers Pa-1

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Book SynopsisEliminate or reduce unwanted emissions with the piping engineering techniques and strategies contained in this book Piping Engineering: Preventing Fugitive Emission in the Oil and Gas Industry is a practical and comprehensive examination of strategies for the reduction or avoidance of fugitive emissions in the oil and gas industry. The book covers key considerations and calculations for piping and fitting design and selection, maintenance, and troubleshooting to eliminate or reduce emissions, as well as the various components that can allow for or cause them, including piping flange joints. The author explores leak detection and repair (LDAR), a key technique for managing fugitive emissions. He also discusses piping stresses, like principal, displacement, sustained, occasional, and reaction loads, and how to calculate these loads and acceptable limits. Various devices to tighten the bolts for flanges are described, as are essential flange fabrications and installTable of ContentsAuthor Biography ix 1 An Introduction to Fugitive Emission, Piping Engineering, and LDAR 1 1.1 Introduction to Fugitive Emission 1 1.2 Introduction to Piping Engineering 5 1.3 Causes of Piping Failure and Leakage 8 1.4 Leak Detection and Repair (LDAR) 13 1.4.1 Composite Repair 14 1.4.2 Mechanical Clamp Repair 14 1.4.3 Welded Leak Box Repair 15 1.4.4 External Weld Overlay 16 1.4.5 Sleeve Repair 17 1.5 Questions and Answers 18 Further Readings 21 2 Piping Pressure Design to Prevent Leakage and Emission 23 2.1 Introduction to Piping Design 23 2.2 Piping and Pipeline Wall Thickness Calculation 23 2.2.1 Piping Wall Thickness Calculation as per ASME B31.3 23 2.2.2 Pipeline Wall Thickness Calculation 32 2.3 Pipe Fittings Wall Thickness/Pressure Rating 51 2.4 Flange Pressure Rating and Thickness Selection 59 2.5 Questions and Answers 70 Further Readings 84 3 Piping Stress Analysis to Prevent Operational Failure 87 3.1 Introduction to Piping Stress Analysis 87 3.2 Principal Piping Stresses 87 3.3 Sustained Loads 96 3.4 Occasional Loads 106 3.4.1 Earthquake and Blast Load 106 3.4.2 Wind Load 109 3.5 Displacement Stress 111 3.5.1 Stress Intensification Factor (SIF) 127 3.6 Piping Reaction Forces 133 3.6.1 Pressure Safety/Relief Valve Reaction Force 133 3.6.2 Slug Flow Reaction Force 138 3.6.3 Water Hammering Load Calculation 143 3.7 Conclusion 145 3.8 Questions and Answers 146 Further Readings 153 4 Piping Flange Joints 155 4.1 Introduction 155 4.2 Flanges 157 4.2.1 Flange Standards 157 4.2.2 Flange Types 162 4.2.3 Flange Faces 175 4.2.4 Flange Surface (Face) Finish 184 4.2.5 Flange Identification 185 4.2.6 Flange Installation 185 4.3 Gaskets 190 4.3.1 Nonmetallic Flat Gaskets 191 4.3.2 Semimetallic Gaskets 192 4.3.3 Metallic Gaskets 196 4.4 Bolting (Bolts and Nuts) 197 4.4.1 Bolt Tightening 204 4.5 Mechanical Joints (Hubs and Clamps) 210 4.6 Compact Flanges 212 4.7 Questions and Answers 216 Appendix A 220 Further Readings 223 5 Piping Flange Joint Calculations 227 5.1 Introduction 227 5.2 Bolt Length Determination and Calculation 228 5.2.1 Long Bolt Length Calculation for Wafer Body Valves 236 5.2.2 Long Bolt Length Calculation for Flanges with Line Blanks 239 5.3 Flange Leakage Analysis 245 5.3.1 Bolting Characteristics 247 5.3.2 Gasket Behavior 253 5.3.3 Combination of Bolt Loads and Gasket Reaction 254 5.3.4 Flange Loading 262 5.3.5 Pressure Equivalent Method 269 5.4 Questions and Answers 270 Appendix A 275 Further Readings 277 6 Piping Material Selection and Corrosion Prevention 279 6.1 Introduction 279 6.2 Onshore Pipeline 281 6.2.1 Onshore Pipeline Material Selection 281 6.2.2 External Corrosion 282 6.2.3 Pipeline External Corrosion Protection 284 6.2.4 Pipeline Internal Corrosion Types and Mitigation 287 6.3 Onshore Piping 301 6.3.1 Onshore Piping Material Selection 301 6.3.2 Onshore Piping Corrosion Types 315 6.4 Offshore Piping 317 6.4.1 Offshore Piping Material Selection 317 6.4.2 Offshore Piping Corrosion Study 320 6.5 Questions and Answers 322 Further Readings 327 7 Piping Component Selection and Identification 329 7.1 Introduction and Overview 329 7.2 Pipe 329 7.3 Pipe Fittings 331 7.3.1 Fittings for Piping Route Change 331 7.3.2 Fittings for Pipe Size Change 336 7.3.3 Fittings for Branching 341 7.3.4 Fittings for Pipe Termination or Blinding 352 7.4 Questions and Answers 356 Further Readings 361 8 Piping Fabrication, Inspection, and Testing 363 8.1 Introduction and Overview 363 8.2 Fabrication, Assembly, and Erection 363 8.2.1 Welding 367 8.3 Inspection 378 8.3.1 Introduction 378 8.3.2 Welding Inspection 379 8.4 Piping Pressure Test 385 8.4.1 Test Media 386 8.4.2 Test Preparation 387 8.4.3 Test Implementation 387 8.5 Questions and Answers 389 Further Readings 393 Index 395

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Book SynopsisA mathematically rigorous explanation of how manufacturing deviations and damage on the working surfaces of gear teeth cause transmission-error contributions to vibration excitations Some gear-tooth working-surface manufacturing deviations of significant amplitude cause negligible vibration excitation and noise, yet others of minuscule amplitude are a source of significant vibration excitation and noise. Presently available computer-numerically-controlled dedicated gear metrology equipment can measure such error patterns on a gear in a few hours in sufficient detail to enable accurate computation and diagnosis of the resultant transmission-error vibration excitation. How to efficiently measure such working-surface deviations, compute from these measurements the resultant transmission-error vibration excitation, and diagnose the manufacturing source of the deviations, is the subject of this book. Use of the technology in this book will allow quality spot checks tTable of ContentsPreface xi Acknowledgments xvii 1 Introduction 1 1.1 Transmission Error 2 1.2 Mathematical Model 4 1.3 Measurable Mathematical Representation of Working-Surface-Deviations 6 1.4 Final Form of Kinematic-Transmission-Error Predictions 10 1.5 Diagnosing Transmission-Error Contributions 12 1.6 Application to Gear-Health Monitoring 13 1.7 Verification of Kinematic Transmission Error as a Source of Vibration Excitation and Noise 14 1.8 Gear Measurement Capabilities 15 References 19 2 Parallel-Axis Involute Gears 21 2.1 The Involute Tooth Profile 21 2.2 Parametric Description of Involute Helical Gear Teeth 24 2.3 Multiple Tooth Contact of Involute Helical Gears 27 2.4 Contact Ratios 27 References 30 3 Mathematical Representation and Measurement of Working-Surface-Deviations 31 3.1 Transmission Error of Meshing-Gear-Pairs 32 3.2 Tooth-Working-Surface Coordinate System 34 3.3 Gear-Measurement Capabilities 36 3.4 Common Types of Working-Surface Errors 37 3.5 Mathematical Representation of Working-Surface-Deviations 38 3.6 Working-Surface Representation Obtained from Line-Scanning Tooth Measurements 45 3.7 Example of Working-Surface Generations Obtained from Line-Scanning Measurements 54 References 67 4 Rotational-Harmonic Analysis of Working-Surface Deviations 69 4.1 Periodic Sequence of Working-Surface Deviations at a Generic Tooth Location 69 4.2 Heuristic Derivation of Rotational-Harmonic Contributions 70 4.3 Rotational-Harmonic Contributions from Working-Surface Deviations 71 4.4 Rotational-Harmonic Spectrum of Mean-Square Working-Surface Deviations 75 4.5 Tooth-Working-Surface Deviations Causing Specific Rotational-Harmonic Contributions 79 4.6 Discussion of Working-Surface Deviation Rotational-Harmonic Contributions 83 5 Transmission-Error Spectrum from Working-Surface-Deviations 95 5.1 Transmission-Error Contributions from Working-Surface-Deviations 96 5.2 Fourier-Series Representation of Transmission-Error Contributions from Working-Surface-Deviations 99 5.3 Rotational-Harmonic Spectrum of Mean-Square Mesh-Attenuated Working-Surface-Deviations 101 5.4 Example of Rotational-Harmonic Spectrum of Mean-Square Mesh-Attenuated Working-Surface-Deviations 103 References 108 6 Diagnosing Manufacturing-Deviation Contributions to Transmission-Error Spectra 109 6.1 Main Features of Transmission-Error Spectra 109 6.2 Approximate Formulation for Generic Manufacturing Deviations 113 6.3 Reduction of Results for Spur Gears 119 6.4 Rotational-Harmonic Contributions from Accumulated Tooth-Spacing Errors 121 6.5 Rotational-Harmonic Contributions from Tooth-to-Tooth Variations Other Than Tooth-Spacing Errors 126 6.6 Rotational-Harmonic Contributions from Undulation Errors 131 6.7 Explanation of Factors Enabling Successful Predictions 158 References 162 7 Transmission-Error Decomposition and Fourier Series Representation 165 7.1 Decomposition of the Transmission Error into its Constituent Components 166 7.2 Transformation of Locations on Tooth Contact Lines to Working-Surface Coordinate System 171 7.3 Fourier-Series Representation of Working-Surface-Deviation Transmission-Error Contribution 175 7.4 Fourier-Series Using Legendre Representation of Working-Surface-Deviations 186 7.5 Fourier-Series Representation of Normalized Mesh Stiffness KM(s)/KM 191 7.6 Approximate Evaluation of Mesh-Attenuation Functions 195 7.7 Accurate Evaluation of Fourier-Series Coefficients of Normalized Reciprocal Mesh Stiffness KM/KM(s) 200 7.8 Fourier-Series Representation of Working-Surface-Deviation Transmission-Error Contributions Utilizing only Real (Not-Complex) Quantities 210 References 238 8 Discussion and Summary of Computational Algorithms 241 8.1 Tooth-Working-Surface Measurements 242 8.2 Computation of Two-Dimensional Legendre Expansion Coefficients 246 8.3 Regeneration of Working-Surface-Deviations 248 8.4 Rotational-Harmonic Decomposition of Working-Surface-Deviations 251 8.5 Explanation of Attenuation Caused by Gear Meshing Action 251 8.6 Diagnosing and Understanding Manufacturing-Deviation Contributions to Transmission-Error Spectra 252 8.7 Computation of Mesh-Attenuated Kinematic-Transmission-Error Contributions 253 References 257 Subject Index 259 Figure Index 267 Table Index 269

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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.A single source of essential information for aerospace engineersThis fully revised resource presents theories and practices from more than 50 specialists in the many sub-disciplines of aeronautical and astronautical engineeringâall under one cover. The Standard Handbook for Aerospace Engineers, Second Edition, contains complete details on classic designs as well as the latest techniques, materials, and processes used in aviation, defense, and space systems. You will get insightful, practical coverage of the gamut of aerospace engineering technologies along with hundreds of informative diagrams, charts, and graphs.Standard Handbook for Aerospace Engineers, Second Edition covers:â

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Book SynopsisSOLIDWORKS 2020 Quick Start introduces new users to the basics of using SOLIDWORKS 3D CAD software in five easy lessons. This book is intended for the student or designer who needs to learn SOLIDWORKS quickly and effectively.

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Book SynopsisThis book covers structural dynamics from a theoretical and algorithmic approach. It covers systems with both single and multiple degrees-of-freedom. Numerous case studies are given to provide the reader with a deeper insight into the practicalities of the area, and the solutions to these case studies are given in terms of real-time and frequency in both geometric and modal spaces. Emphasis is also given to the subject of seismic loading. The text is based on many lectures on the subject of structural dynamics given at numerous institutions and thus will be an accessible and practical aid to students of the subject. Key features: Examines the effects of loads, impacts, and seismic forces on the materials used in the construction of buildings, bridges, tunnels, and more Structural dynamics is a critical aspect of the design of all engineered/designed structures and objects - allowing for accurate prediction of their ability to withstand service loading, and for knowledge of failure-causeing or critical loads Trade Review "This book covers structural dynamics from a theoretical and algorithmic approach. It covers systems with both single and multiple degrees-of-freedom. Numerous case studies are given to provide the reader with a deeper insight into the practicalities of the area, and the solutions to these case studies are given in terms of real-time and frequency in both geometric and modal spaces. Emphasis is also given to the subject of seismic loading. This publication also examines the effects of loads, impacts, and seismic forces on the materials used in the construction of buildings, bridges, tunnels, and more." (MCEER Information Service Web site, January 2011) Table of ContentsPreface vii Chapter 1. Introduction 1 PART 1. SINGLE DEGREE OF FREEDOM SYSTEMS 25 Chapter 2. Equation of Motion 27 Chapter 3. Free Response 37 Chapter 4. Forced Response to Harmonic Loading 71 Chapter 5. Measurement of Damping 123 Chapter 6. Forced Response to Periodic Loading 141 Chapter 7. Response to Arbitrary Loading in the Time Domain 161 Chapter 8. Forced Response to Arbitrary Loading in Frequency Domain 195 Chapter 9. Direct Time Integration of Linear Systems 223 Chapter 10. Direct Time Integration of Nonlinear Systems 249 Chapter 11. Generalized Elementary Systems 271 Chapter 12. Response to Earthquake Excitation 307 PART 2. MULTI-DEGREES OF FREEDOM SYSTEMS 347 Chapter 13. Equations of Motion 349 Chapter 14. Finite Element Method 385 Chapter 15. Free Response of Conservative Systems 445 Chapter 16. Free Response of Non-conservative Systems 471 Chapter 17. Response to Arbitrary Loading by Modal Superposition 489 Chapter 18. Modal Superposition Response to Earthquake Excitation 511 Chapter 19. Properties of Eigenvalues and Eigenvectors 533 Chapter 20. Reduction of Coordinates 571 Chapter 21. Numerical Methods for Eigenproblems 607 Chapter 22. Direct Time Integration of Linear Systems 673 Chapter 23. Direct Time Integration of Nonlinear Systems 743 Appendix A: Complex Numbers 759 A.1. Algebric representation 759 A.2.Operations 760 A.3.Geometric representation 760 A.4. Trigonometric form 761 A.5.Roots 764 Bibliography 767 Index 775

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Book SynopsisThis book provides the fundamentals and recent advances in nano and micromachining for modern manufacturing engineering. It begins by providing an outline of nanomachining with emphasis being given to molecular dynamics, cutting, and chip formation, before discussing various advances in field and machining processes, including advances in diamond cutting tools, conventional processes (microturning, microdrilling, micromilling, etc.), grinding and ultra-precision processes, and non-conventional machining processes (laser micromachining, EDM micromachining, etc.). The coverage concludes with an evaluation of subsurface damages in nano and micromachining and a presentation of applications in industry. As such, not only is this book useful to those studying engineering or machining at both an undergraduate and postgraduate level, but it also serves as a useful reference guide for academics and engineers involved in these areas and related industries.Table of ContentsPreface ix Chapter 1. Nanoscale Cutting 1 Rüdiger RENTSCH 1.1. Introduction 1 1.2. Basic elements of molecular dynamics modeling 3 1.2.1. Material representation and microstructure 3 1.2.2. Atomic interaction 4 1.2.3. System dynamics and numerical description 7 1.2.4. Boundary conditions 8 1.3. Design and requirements for state-of-the-art MD cutting process simulations 10 1.4. Capabilities of MD for nanoscale material removal process analysis 12 1.4.1. Analysis of microstructure and deformation 12 1.4.2. Obtaining cutting forces, stress and temperature 15 1.5. Advances and recent developments in material removal process simulation 18 1.5.1. Complete 3D surface machining simulation 18 1.5.2. Consideration of fluids in MD cutting simulation 20 1.6. Summary and outlook 23 1.7. References 24 Chapter 2. Ductile Mode Cutting of Brittle Materials: Mechanism, Chip Formation and Machined Surfaces 27 Xiaoping LI 2.1. Introduction 27 2.2. The mechanism of ductile mode cutting of brittle materials 29 2.2.1. Transition of chip formation mode from ductile to brittle 29 2.2.2. MD modeling and simulation of nanoscale ductile mode cutting of silicon 32 2.2.3. The mechanism of ductile mode chip formation in cutting of silicon 32 2.3. The chip formation in cutting of brittle materials 35 2.3.1. Material deformation and crack initiation in the chip formation zone 35 2.3.2. Stress conditions in the chip formation zone in relation to ductile-brittle mode of chip formation 36 2.4. Machined surfaces in relation to chip formation mode 38 2.5. References 40 Chapter 3. Diamond Tools in Micromachining 45 Waqar AHMED, Mark J. JACKSON and Michael D. WHITFIELD 3.1. Introduction 45 3.2. Diamond technology 45 3.2.1. Hot Filament CVD (HFCVD) 46 3.3. Preparation of substrate 48 3.3.1. Selection of substrate material 48 3.3.2. Pre-treatment of substrate 49 3.4. Modified HFCVD process 51 3.4.1. Modification of filament assembly 51 3.4.2. Process conditions 52 3.5. Nucleation and diamond growth 53 3.5.1. Nucleation 54 3.5.2. Bias-enhanced nucleation (BEN) 55 3.5.3. Influence of temperature 56 3.6. Deposition on complex substrates 58 3.6.1. Diamond deposition on metallic (molybdenum) wire 58 3.6.2. Deposition on WC-Co microtools 58 3.6.3. Diamond deposition on tungsten carbide (WC-Co) microtool 59 3.7. Diamond micromachining 62 3.7.1. Performance of diamond-coated microtool 66 3.8. Conclusions 67 3.9. References 67 Chapter 4. Conventional Processes: Microturning, Microdrilling and Micromilling 71 Wit GRZESIK 4.1. Introduction 71 4.1.1. Definitions and technological possibilities 71 4.1.2. Main applications of micromachining 72 4.2. Microturning 74 4.2.1. Characteristic features and applications 74 4.2.2. Microturning tools and tooling systems 75 4.2.3. Machine tools for microturning 77 4.3. Microdrilling 79 4.3.1. Characteristic features and applications 79 4.3.2. Microdrills and tooling systems 80 4.3.3. Machine tools for microdrilling 83 4.4. Micromilling 85 4.4.1. Characteristic features and applications 85 4.4.2. Micromills and tooling systems 87 4.4.3. Machine tools for micromilling 89 4.5. Product quality in micromachining 92 4.5.1. Quality challenges in micromachining 92 4.5.2. Burr formation in micromachining operations 92 4.5.3. Surface quality inspection of micromachining products 96 4.6. References 98 Chapter 5. Microgrinding and Ultra-precision Processes 101 Mark J. JACKSON and Michael D. WHITFIELD 5.1. Introduction 101 5.2. Micro and nanogrinding 104 5.2.1. Nanogrinding apparatus. 105 5.2.2. Nanogrinding procedures 105 5.3. Nanogrinding tools 106 5.3.1. Dissolution modeling 109 5.3.2. Preparation of nanogrinding wheels 110 5.3.3. Bonding systems 112 5.3.4. Vitrified bonding systems 113 5.4. Conclusions 121 5.5. References 122 Chapter 6. Non-Conventional Processes: Laser Micromachining 125 Grant M. ROBINSON and Mark J. JACKSON 6.1. Introduction 125 6.2. Fundamentals of lasers 126 6.2.1. Stimulated emission 126 6.2.2. Types of lasers 127 6.2.3. Laser optics 128 6.2.4. Beam quality 129 6.2.5. Laser-material interactions 131 6.3. Laser microfabrication 133 6.3.1. Nanosecond pulse microfabrication 133 6.3.2.Shielding gas 135 6.3.3. Nozzle designs for laser micromachining 136 6.3.4. Stages of surface melting 138 6.3.5. Effects of nanosecond pulsed microfabrication 138 6.3.6. Picosecond pulse microfabrication 143 6.3.7. Femtosecond pulse microfabrication 146 6.3.8. Effects of femtosecond laser machining 150 6.4. Laser nanofabrication 151 6.5. Conclusions 154 6.6. References 154 Chapter 7.Evaluation of Subsurface Damage in Nano and Micromachining 157 Jianmei ZHANG, Jiangang SUN and Zhijian PEI 7.1. Introduction 157 7.2. Destructive evaluation technologies 158 7.2.1. Cross-sectional microscopy 158 7.2.2. Preferential etching 159 7.2.3. Angle lapping/angle polishing 159 7.3. Non-destructive evaluation technologies 160 7.3.1. X-ray diffraction 160 7.3.2. Micro-Raman spectroscopy 164 7.3.3. Laser scattering 167 7.4. Acknowledgements 172 7.5. References 172 Chapter 8. Applications of Nano and Micromachining in Industry 175 Jiwang YAN 8.1. Introduction 175 8.2. Typical machining methods 176 8.2.1. Diamond turning 176 8.2.2. Shaper/planner machining 178 8.3. Applications in optical manufacturing 179 8.3.1. Aspheric lens 179 8.3.2. Fresnel lens 186 8.3.3. Microstructured components 193 8.4. Semiconductor and electronics related applications 200 8.4.1. Semiconductor wafer production 200 8.4.2. LSI substrate planarization 202 8.5. Summary 203 8.6. Acknowledgements 204 8.7. References 204 List of Authors 209 Index 211

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Book SynopsisThis reference book gives the reader a complete but comprehensive presentation of the foundations of convex analysis and presents applications to significant situations in engineering. The presentation of the theory is self-contained and the proof of all the essential results is given. The examples consider meaningful situations such as the modeling of curvilinear structures, the motion of a mass of people or the solidification of a material. Non convex situations are considered by means of relaxation methods and the connections between probability and convexity are explored and exploited in order to generate numerical algorithms.Trade Review“The book is addressed mainly to mechanical engineers, but it can also be useful to mathematicians who are interested in applications.” (Mathematical Reviews, 2012) Table of ContentsIntroduction ix PART 1 MOTIVATION: EXAMPLES AND APPLICATIONS 1 Chapter 1 Curvilinear Continuous Media 3 1.1 One-dimensional curvilinear media 4 1.2 Supple membranes 22 Chapter 2 Unilateral System Dynamics 33 2.1 Dynamics of ideally flexible strings 34 2.2 Contact dynamics 40 Chapter 3 A Simplified Model of Fusion/Solidification 53 3.1 A simplified model of phase transition 53 Chapter 4 Minimization of a Non-Convex Function 61 4.1 Probabilities, convexity and global optimization 61 Chapter 5 Simple Models of Plasticity 69 5.1 Ideal elastoplasticity 72 PART 2 THEORETICAL ELEMENTS 77 Chapter 6 Elements of Set Theory 79 6.1 Elementary notions and operations on sets 80 6.2 The axiomof choice 83 6.3 Zorn's lemma 89 Chapter 7 Real Hilbert Spaces 97 7.1 Scalar product and norm 99 7.2 Bases anddimensions 107 7.3 Open sets and closed sets 114 7.4 Sequences 123 7.5 Linear functionals 137 7.6 Complete space 146 7.7 Orthogonal projection onto a vector subspace 160 7.8 Riesz's representationtheory 167 7.9 Weak topology 173 7.10 Separable spaces: Hilbert bases and series 184 Chapter 8 Convex Sets 201 8.1 Hyperplanes 201 8.2 Convexsets 208 8.3 Convexhulls 212 8.4 Orthogonal projection on a convex set 217 8.5 Separationtheorems 228 8.6 Convexcone 241 Chapter 9 Functionals on a Hilbert Space 253 9.1 Basic notions 254 9.2 Convexfunctionals 261 9.3 Semi-continuous functionals 271 9.4 Affine functionals 298 9.5 Convexification and LSC regularization 303 9.6 Conjugate functionals 320 9.7 Subdifferentiability 331 Chapter 10 Optimization 361 10.1 The optimization problem 361 10.2 Basic notions 362 10.3 Fundamental results 374 Chapter 11 Variational Problems 421 11.1 Fundamental notions 421 11.2 Zeros of operators 455 11.3 Variational inequations 463 11.4 Evolutionequations 469 Bibliography 487 Index 495

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Book SynopsisThe term Mechatronics is a combination of the words “mechanics” and “electronics”. It is the blending of mechanical, electronic, and computer engineering into an integrated design and implementation. Mechatronics systems employ microprocessors and software as well as special-purpose electronics. The main objective of this interdisciplinary engineering field is the study of automated devices (e.g. robots) from an engineering perspective, thinking about the design of products and manufacturing processes. Today, mechatronics is having a significant and increasing impact on engineering - in the design, development, and operation of engineering systems. Mechatronics systems and products are well established in a great number of industries, such as the aircraft, automotive, computer, electronics, robotics/automation, manufacturing systems, computerized machine tools, communications, and biomedical industries. This book provides details on recent advances in mechatronics, and can be used as a guidebook for final undergraduate engineering courses (for example, mechanical, electronic, computer engineering) or as a reference to the subject of mechatronics at the postgraduate level. It can also serve as a useful reference for academics, mechatronics researchers, mechanical, electronic and computer engineers, and professionals in areas related to mechatronics and robotics.Trade Review"The book can serve as a textbook for a graduate or senior undergraduate engineering course on mechatronics, or as a reference for researchers and practitioners." (Book New, 1 August 2011) Table of ContentsPreface xi Chapter 1. Mechatronics Systems Based on CAD/CAM 1 Fusaomi NAGATA, Yukihiro KUSUMOTO, Keigo WATANABE and Maki K. HABIB 1.1. Introduction 1 1.2. Five-axis NC machine tool with a tilting head 1 1.3. Three-axis NC machine tool with a rotary unit 4 1.4. Articulated-type industrial robot 8 1.5. Desktop Cartesian-type robot 21 1.6. Conclusions 26 1.7. Bibliography 27 Chapter 2. Modeling and Control of Ionic Polymer–Metal Composite Actuators for Mechatronics Applications 29 Andrew MCDAID, Kean AW and Sheng Q XIE 2.1. Introduction 29 2.2. Electromechanical IPMC model 33 2.3. IPMC stepper motor 44 2.4. Robotic rotary joint 49 2.5. Discussions 63 2.6. Concluding remarks 63 2.7. Bibliography 64 Chapter 3. Modeling and Simulation of Analog Angular Sensors for Manufacturing Purposes 69 Joao FIGUEIREDO 3.1. Introduction 69 3.2. Pancake resolver model 73 3.3. Simulation and experimental results 94 3.4. Conclusions 99 3.5. Acknowledgment 99 3.6. Bibliography 99 Chapter 4. Robust Control of Atomic Force Microscopy 103 Bilin AKSUN GUVENC, Serkan NEC_PO_LU, Burak DEM_REL and Levent GUVENC 4.1. Introduction 103 4.2. Repetitive control of the vertical direction motion 104 4.3. MIMO disturbance observer control of the lateral directions 117 4.4. Concluding remarks 128 4.5. Acknowledgments 129 4.6. Bibliography 130 Chapter 5. Automated Identification 133 Hiroo WAKAUMI 5.1. Introduction 133 5.2. Serial binary barcode 134 5.3. Two-dimensional binary barcode 140 5.4. Ternary barcode 149 5.5. RFID 160 5.6. Application examples 163 5.7. Concluding remarks 164 5.8. Acknowledgments 164 5.9. Bibliography 165 Chapter 6. An Active Orthosis for Gait Rehabilitation 169 Shahid HUSSAIN and Sheng Q. XIE 6.1. Introduction 169 6.2. Compliant active orthosis design 178 6.3. Modeling 182 6.4. Control 184 6.5. Simulation results 187 6.6. Conclusions 189 6.7. Acknowledgment 189 6.8. Bibliography 190 Chapter 7. Intelligent Assistive Knee Exoskeleton 195 Mervin CHANDRAPAL, Xiaoqi CHEN and Wenhui WANG 7.1. Introduction 195 7.2. Overview of knee exoskeleton system 202 7.3. Modeling and control of pneumatic artificial muscle (PAM) 205 7.4. Modeling of high-speed on/off solenoid valve 211 7.5. Self-organizing fuzzy control 214 7.6. Surface electromyography 224 7.7. Hardware implementation 229 7.8. Concluding remarks 231 7.9. Acknowledgment 232 7.10. Bibliography 232 List of Authors 239 Index 241

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Book SynopsisClassical synchronous motors are the most effective device to drive industrial production systems and robots with precision and rapidity. However, numerous applications require efficient controls in non-conventional situations. Firstly, this is the case with synchronous motors supplied by thyristor line-commutated inverters, or with synchronous motors with faults on one or several phases. Secondly, many drive systems use non-conventional motors such as polyphase (more than three phases) synchronous motors, synchronous motors with double excitation, permanent magnet linear synchronous motors, synchronous and switched reluctance motors, stepping motors and piezoelectric motors. This book presents efficient controls to improve the use of these non-conventional motors. Contents 1. Self-controlled Synchronous Motor: Principles of Function and Simplified Control Model, Francis Labrique and François Baudart.2. Self-controlled Synchronous Motor: Dynamic Model Including the Behavior of Damper Windings and Commutation Overlap, Ernest Matagne.3. Synchronous Machines in Degraded Mode, Damien Flieller, Ngac Ky Nguyen, Hervé Schwab and Guy Sturtzer.4. Control of the Double-star Synchronous Machine Supplied by PWM Inverters, Mohamed Fouad Benkhoris.5. Vectorial Modeling and Control of Multiphase Machines with Non-salient Poles Supplied by an Inverter, Xavier Kestelyn and Éric Semail.6. Hybrid Excitation Synchronous Machines, Nicolas Patin and Lionel Vido.7. Advanced Control of the Linear Synchronous Motor, Ghislain Remy and Pierre-Jean Barre.8. Variable Reluctance Machines: Modeling and Control, Mickael Hilairet, Thierry Lubin and Abdelmounaïm Tounzi.9. Control of the Stepping Motor, Bruno Robert and Moez Feki .10. Control of Piezoelectric Actuators, Frédéric Giraud and Betty Lemaire-Semail.Table of ContentsIntroduction xi Jean-Paul LOUIS Chapter 1. Self-controlled Synchronous Motor: Principles of Function and Simplified Control Model 1 Francis LABRIQUE and François BAUDART 1.1. Introduction 1 1.2. Design aspects specific to the self-controlled synchronous machine 2 1.3. Simplified model for the study of steady state operation 3 1.4. Study of steady-state operation 6 1.5. Operation at nominal speed, voltage and current 12 1.6. Operation with a torque smaller than the nominal torque 15 1.7. Operation with a speed below the nominal speed 15 1.8. Running as a generator 16 1.9. Equivalence of a machine with a commutator and brushes 17 1.10. Equations inferred from the theory of circuits with sliding contacts 22 1.11. Evaluation of alternating currents circulating in steady state in the damper windings 26 1.12. Transposition of the study to the case of a negative rotational speed 28 1.13. Variant of the base assembly 28 1.14. Conclusion 29 1.15. List of the main symbols used 29 1.16. Bibliography 30 Chapter 2. Self-controlled Synchronous Motor: Dynamic Model Including the Behavior of Damper Windings and Commutation Overlap 33 Ernest MATAGNE 2.1. Introduction 33 2.2. Choice of the expression of Nk 35 2.3. Expression of fluxes 40 2.4. General properties of coefficients , and 46 2.5. Electrical dynamic equations 48 2.6. Expression of electromechanical variables 51 2.7. Expression of torque 53 2.8. Writing of equations in terms of coenergy 54 2.9. Application to control 56 2.10. Conclusion 60 2.11. Appendix 1: value of coefficients , and 60 2.12. Appendix 2: derivatives of coefficients , and 61 2.13. Appendix 3: simplifications for small μ62 2.14. Appendix 4: List of the main symbols used in Chapters 1 and 2 63 2.15. Bibliography 65 Chapter 3. Synchronous Machines in Degraded Mode 67 Damien FLIELLER, Ngac Ky NGUYEN, Hervé SCHWAB and Guy STURTZER 3.1. General introduction 67 3.2. Analysis of the main causes of failure 68 3.3. Reliability of a permanent magnet synchronous motors drive 72 3.4. Conclusion 76 3.5. Optimal supplies of permanent magnet synchronous machines in the presence of faults 77 3.6. Supplies of faulty synchronous machines with non-sinusoidal back electromagnetic force 77 3.7. Experimental learning strategy in closed loop to obtain optimal currents in all cases 113 3.8. Simulation results 116 3.9. General conclusion 118 3.10. Glossary 119 3.11. Bibliography 121 Chapter 4. Control of the Double-star Synchronous Machine Supplied by PWM Inverters 125 Mohamed Fouad BENKHORIS 4.1. Introduction 125 4.2. Description of the electrical actuator 127 4.3. Basic equations 128 4.4. Dynamic models of the double-star synchronous machine 131 4.5. Control of the double-star synchronous machine 146 4.6. Bibliography 158 Chapter 5. Vectorial Modeling and Control of Multiphase Machines with Non-salient Poles Supplied by an Inverter 161 Xavier KESTELYN and Éric SEMAIL 5.1. Introduction and presentation of the electrical machines 161 5.2. Control model of inverter-fed permanent magnet synchronous machines 163 5.3. Torque control of multiphase machines 189 5.4. Modeling and torque control of multiphase machines in degraded supply mode 203 5.5. Bibliography 204 Chapter 6. Hybrid Excitation Synchronous Machines 207 Nicolas PATIN and Lionel VIDO 6.1. Description 207 6.2. Modeling with the aim of control 220 6.3. Control by model inversion 230 6.4. Overspeed and flux weakening of synchronous machines 235 6.4. Conclusion 237 6.5. Bibliography 239 Chapter 7. Advanced Control of the Linear Synchronous Motor 241 Ghislain REMY and Pierre-Jean BARRE 7.1. Introduction 241 7.2. Classical control of linear motors 253 7.3. Advanced control of linear motors 265 7.4. Conclusion 279 7.5. Nomenclature 280 7.6. Acknowledgment 281 7.7. Bibliography 281 7.8. Appendix: LMD10-050 Datasheet of ETEL 285 Chapter 8. Variable Reluctance Machines: Modeling and Control 287 Mickael HILAIRET, Thierry LUBIN and Abdelmounaïm TOUNZI 8.1. Introduction 287 8.2. Synchronous reluctance machines 289 8.3. Switched reluctance machines 303 8.4. Conclusion 323 8.5. Bibliography 323 Chapter 9. Control of the Stepping Motor 329 Bruno ROBERT and Moez FEKI 9.1. Introduction 329 9.2. Modeling 329 9.3. Control in open loop 335 9.4. Controls in closed loop 350 9.5. Advanced control: the control of chaos 361 9.6. Bibliography 371 Chapter 10. Control of Piezoelectric Actuators 375 Frédéric GIRAUD and Betty LEMAIRE-SEMAIL 10.1. Introduction 375 10.2. Causal model in the supplied voltage referential 380 10.3. Causal model in the referential of the traveling wave 389 10.4. Control based on a behavioral model 400 10.5. Controls based on a knowledge model 401 10.6. Conclusion 407 10.7. Bibliography 407 List of Authors 411 Index 413

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Book SynopsisMechanical Engineering is defined nowadays as a discipline “which involves the application of principles of physics, design, manufacturing and maintenance of mechanical systems”. Recently, mechanical engineering has also focused on some cutting-edge subjects such as nanomechanics and nanotechnology, mechatronics and robotics, computational mechanics, biomechanics, alternative energies, as well as aspects related to sustainable mechanical engineering. This book covers mechanical engineering higher education with a particular emphasis on quality assurance and the improvement of academic institutions, mechatronics education and the transfer of knowledge between university and industry.Table of ContentsPreface xi Chapter 1. Quality Assurance in Greek HEIs: Convergence or Divergence with European Models? 1 Nikolaos M. VAXEVANIDIS 1.1. Introduction 1 1.2. Definitions and fundamentals 3 1.3. Quality management models in HE 6 1.3.1. Overview 6 1.3.2. Implementation of ISO 9001 in HEIs 11 1.3.3. Implementation of EFQM model in HEIs 14 1.4. European focus on quality in HE: a historical perspective 16 1.4.1. Historical perspective 16 1.4.1.1. Policy and procedures for quality assurance 22 1.4.1.2. Approval, monitoring and periodic review of programs and awards 23 1.4.1.3. Assessment of students 24 1.4.1.4. Quality assurance of teaching staff 26 1.4.1.5. Learning resources and student support 26 1.4.1.6. Information systems 27 1.4.1.7. Public information 28 1.4.2. ESG standards versus typical quality systems 28 1.4.3. Accreditation of engineering education 31 1.5. Quality assurance in Greece: a long and winding road 33 1.5.1. Higher education in Greece 33 1.5.2. Greek HEI quality assurance system 36 1.5.3. Accreditation of higher engineering education in Greece 44 1.5.4. Selected cases on QA applications in Greek (engineering) HEIs 45 1.6. Bibliography 52 Chapter 2. Mechatronics Education 61 Uday Shanker DIXIT 2.1. Introduction 61 2.2. A brief history of mechatronics 63 2.2.1. History of mechanical engineering 63 2.2.2. History of electronics engineering 68 2.2.3. Growth of mechatronics 71 2.3. Definitions and scope of mechatronics 72 2.4. Examples of mechatronic products 76 2.5. Review of literature in the area of mechatronics education 78 2.6. Common doubts regarding the discipline of mechatronics 84 2.7. Characteristics of mechatronics education 86 2.8. Incorporating mechatronics in the course structure of undergraduate students 89 2.9. Mechatronics for postgraduate students 94 2.10. Planning of a mechatronics program at postgraduate and undergraduate level 95 2.11. Some examples of mechatronics projects 98 2.11.1. Design and fabrication of a mechatronic wheelchair 98 2.11.2. Automatic gear changing system for cars 99 2.11.3. Design and fabrication of robots 100 2.11.4. Design and fabrication of an electronic cam 101 2.12. Conclusion 102 2.13. Bibliography 103 Chapter 3. Mechatronics Educational System Using Multiple Mobile Robots with Behavior-Based Control Approach 107 Fusaomi NAGATA, Keigo WATANABE and Maki K. HABIB 3.1. Introduction 108 3.2. Mechatronics education subsystem I 108 3.2.1. Hardware of mechatronics educational subsystem I 108 3.2.2. Basic dialog for students’ experiment 112 3.3. Mechatronics educational subsystem II 113 3.3.1. Hardware of mechatronics educational subsystem II 113 3.3.2. Basic dialog for students’ experiment 115 3.4. Mechatronics educational subsystem III 116 3.4.1. Mobile robot with three wheels 116 3.4.2. Network-based multiple mobile robot system 120 3.4.3. Subsumption control architecture implemented on supervisory server 121 3.4.3.1. Move forward 123 3.4.3.2. Turn to left or right 124 3.4.3.3. Avoid objects 124 3.4.4. Agent dispatcher 126 3.4.5. Multiple sensory sensors 126 3.5. Conclusions 127 3.6. Bibliography 128 Chapter 4. Knowledge Transfer between University and Industry: Development of a Vision Measuring System 131 João M.G. FIGUEIREDO 4.1. Introduction 132 4.2. Measuring system 136 4.2.1. Light plane 138 4.2.2. Mathematical model 140 4.2.3. System calibration 147 4.3. Image processing algorithm 149 4.4. Results 150 4.4.1. Building the wheel’s profile in the horizontal light plane 150 4.4.2. Building the wheel’s profile in the radial plane 153 4.4.3. Experimental results 155 4.5. Conclusions 159 4.6. Acknowledgment 160 4.7. Bibliography 160 List of Authors 165 Index 167

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Book SynopsisMechatronics represents a unifying interdisciplinary and intelligent engineering science paradigm that features an interdisciplinary knowledge area and interactions in terms of the ways of work and thinking, practical experiences, and theoretical knowledge. Mechatronics successfully fuses (but is not limited to) mechanics, electrical, electronics, informatics and intelligent systems, intelligent control systems and advanced modeling, intelligent and autonomous robotic systems, optics, smart materials, actuators and biomedical and biomechanics, energy and sustainable development, systems engineering, artificial intelligence, intelligent computer control, computational intelligence, precision engineering and virtual modeling into a unified framework that enhances the design of products and manufacturing processes. Interdisciplinary Mechatronics concerns mastering a multitude of disciplines, technologies, and their interaction, whereas the science of mechatronics concerns the invention and development of new theories, models, concepts and tools in response to new needs evolving from interacting scientific disciplines. The book includes two sections, the first section includes chapters introducing research advances in mechatronics engineering, and the second section includes chapters that reflects the teaching approaches (theoretical, projects, and laboratories) and curriculum development for under- and postgraduate studies. Mechatronics engineering education focuses on producing engineers who can work in a high-technology environment, emphasize real-world hands-on experience, and engage in challenging problems and complex tasks with initiative, innovation and enthusiasm. Contents: 1. Interdisciplinary Mechatronics Engineering Science and the Evolution of Human Friendly and Adaptive Mechatronics, Maki K. Habib. 2. Micro-Nanomechatronics for Biological Cell Analysis and Assembly, Toshio Fukuda, Masahiro Nakajima, Masaru Takeuchi, Tao Yue and Hirotaka Tajima. 3. Biologically Inspired CPG-Based Locomotion Control System of a Biped Robot Using Nonlinear Oscillators with Phase Resetting, Shinya Aoi. 4. Modeling a Human’s Learning Processes toward Continuous Learning Support System, Tomohiro Yamaguchi, Kouki Takemori and Keiki Takadama. 5. PWM Waveform Generation Using Pulse-Type Hardware Neural Networks, Ken Saito, Minami Takato, Yoshifumi Sekine and Fumio Uchikoba. 6. Parallel Wrists: Limb Types, Singularities and New Perspectives, Raffaele Di Gregorio. 7. A Robot-Assisted Rehabilitation System – RehabRoby, Duygun Erol Barkana and Fatih Özkul. 8. MIMO Actuator Force Control of a Parallel Robot for Ankle Rehabilitation, Andrew Mcdaid, Yun Ho Tsoi and Shengquan Xie. 9. Performance Evaluation of a Probe Climber for Maintaining Wire Rope, Akihisa Tabata, Emiko Hara and Yoshio Aoki. 10. Fundamentals on the Use of Shape Memory Alloys in Soft Robotics, Matteo Cianchetti. 11. Tuned Modified Transpose Jacobian Control of Robotic Systems, S. A. A. Moosavian and M. Karimi. 12. Derivative-Free Nonlinear Kalman Filtering for PMSG Sensorless Control, Gerasimos Rigatos, Pierluigi Siano and Nikolaos Zervos. 13. Construction and Control of Parallel Robots, Moharam Habibnejad Korayem, Soleiman Manteghi and Hami Tourajizadeh. 14. A Localization System for Mobile Robot Using Scanning Laser and Ultrasonic Measurement, Kai Liu, Hongbo Li and Zengqi Sun. 15. Building of Open-Structure Wheel-Based Mobile Robotic Platform, Aleksandar Rodic and Ivan Stojkovic. 16. Design and Physical Implementation of Holonomous Mobile Robot–Holbos, Jasmin Velagic, Admir Kaknjo, Faruk Dautovic, Muhidin Hujdur and Nedim Osmic. 17. Advanced Artificial Vision and Mobile Devices for New Applications in Learning, Entertainment and Cultural Heritage Domains, Gian Luca Foresti, Niki Martinel, Christian Micheloni and Marco Vernier. 18. Application of Stereo Vision and ARM Processor for Motion Control, Moharam Habibnejad Korayem, Michal Irani and Saeed Rafee Nekoo. 19. Mechatronics as Science and Engineering – or Both, Balan Pillai and Vesa Salminen. 20. A Mechatronic Platform for Robotic Educational Activities, Ioannis Kostavelis, Evangelos Boukas, Lazaros Nalpantidis and Antonios Gasteratos. 21. The Importance of Practical Activities in the Formation of Mechatronic Engineers, Joao Carlos M. Carvalho and Vera Lúcia D.S. Franco About the Authors Maki K. Habib is Professor of Robotics and Mechatronics in the School of Science and Engineering, at the American University in Cairo, Egypt. He has been regional editor (Africa/Middle East,) for the International Journal of Mechatronics and Manufacturing Systems (IJMMS) since 2010. He is the recipient of academic awards and has published many articles and books. J. Paulo Davim is Aggregate Professor in the Department of Mechanical Engineering at the University of Aveiro, Portugal and is Head of MACTRIB (Machining and Tribology Research Group). His main research interests include manufacturing, materials and mechanical engineering.Table of ContentsPreface xvii Chapter 1. Interdisciplinary Mechatronics Engineering Science and the Evolution of Human Friendly and Adaptive Mechatronics 1 Maki K. HABIB 1.1. Introduction 2 1.2. Synergetic thinking, learning and innovation in mechatronics design 9 1.3. Human adaptive and friendly mechatronics 11 1.4. Conclusions 14 1.5. Bibliography 15 Chapter 2. Micro-Nanomechatronics for Biological Cell Analysis and Assembly 19 Toshio FUKUDA, Masahiro NAKAJIMA, Masaru TAKEUCHI, Tao YUE and Hirotaka TAJIMA 2.1. Introduction of micro-nanomechatronics on biomedical fields 19 2.2. Configuration of micro-nanomechatronics 21 2.3. Micro-nanomechatronics for single cell analysis 25 2.4. Semi-closed microchip for single cell analysis 28 2.5. Biological cell assembly using photo-linkable resin based on the single cell analysis techniques 30 2.6. Conclusion 33 2.7. Acknowledgments 34 2.8. Bibliography 34 Chapter 3. Biologically Inspired CPG-Based Locomotion Control System of a Biped Robot Using Nonlinear Oscillators with Phase Resetting 37 Shinya AOI 3.1. Introduction 37 3.2. Locomotion control system using nonlinear oscillators 38 3.3. Stability analysis using a simple biped robot model 41 3.4. Experiment using biped robots 58 3.5. Conclusion 64 3.6. Acknowledgments 65 3.7. Bibliography 65 Chapter 4. Modeling a Human’s Learning Processes toward Continuous Learning Support System 69 Tomohiro YAMAGUCHI, Kouki TAKEMORI and Keiki TAKADAMA 4.1. Introduction 70 4.2. Designing the continuous learning by a maze model 76 4.3. The layout design of mazes for the continuous learning task 82 4.3.1. Overview of the continuous learning support system 82 4.3.2. The layout design of mazes on the thinking level space 83 4.4. Experiment 85 4.5. Discussions 88 4.5.1. The role of motivations to drive the continuous learning 88 4.6. Conclusions 92 4.7. Acknowledgments 93 4.8. Bibliography 93 Chapter 5. PWM Waveform Generation Using Pulse-Type Hardware Neural Networks 95 Ken SAITO, Minami TAKATO, Yoshifumi SEKINE and Fumio UCHIKOBA 5.1. Introduction 96 5.2. PWM servo motor 97 5.3. Pulse-type hardware neuron model 99 5.4. Pulse-type hardware neural networks 104 5.5. Measurements of constructed discrete circuit 108 5.6. Conclusion 109 5.7. Acknowledgments 109 5.8. Bibliography 110 Chapter 6. Parallel Wrists: Limb Types, Singularities and New Perspectives 113 Raffaele DI GREGORIO 6.1. Limb architectures and mobility analysis 113 6.2. Singularities and performance indices 124 6.3. New perspectives 139 6.4. Bibliography 142 Chapter 7. A Robot-Assisted Rehabilitation System – RehabRoby 145 Duygun EROL BARKANA and Fatih ÖZKUL 7.1. Introduction 145 7.2. Background 146 7.3. Control architecture 149 7.4. RehabRoby 150 7.5. Controllers of RehabRoby 155 7.6. Concluding remarks 158 7.7. Acknowledgments 159 7.8. Bibliography 159 Chapter 8. MIMO Actuator Force Control of a Parallel Robot for Ankle Rehabilitation 163 Andrew MCDAID, Yun HO TSOI and Shengquan XIE 8.1. Introduction 163 8.2. Ankle rehabilitation robot 167 8.2.1. Design requirements 168 8.3. Actuator force control 176 8.4. Experimental results 198 8.5. Concluding remarks 204 8.6. Bibliography 205 Chapter 9. Performance Evaluation of a Probe Climber for Maintaining Wire Rope 209 Akihisa TABATA, Emiko HARA and Yoshio AOKI 9.1. Introduction 209 9.2. Optimize friction drive conditions using a prototype probe climber 210 9.3. Impact of different surface friction materials for friction pulley made on elevation performance 213 9.4. Damage detection test of elevator wire rope 216 9.5. Damage detection through signal processing 218 9.6. Integrity evaluation of wire rope through MFL strength 219 9.7. Damage detection of wire rope using neural networks 224 9.8. Conclusion 224 9.9. Bibliography 225 Chapter 10. Fundamentals on the Use of Shape Memory Alloys in Soft Robotics 227 Matteo CIANCHETTI 10.1. Introduction 228 10.2. Shape memory effect and superelastic effect 230 10.3. SMA thermomechanical behavior 231 10.4. SMA constitutive models 234 10.5. Hints on SMA thermomechanical testing 235 10.6. Design principles 237 10.7. Fabrication methods 243 10.8. Activation methods and control design 244 10.9. Applications in Soft Robotics 248 10.10. Conclusions 251 10.11. Bibliography 252 Chapter 11. Tuned Modified Transpose Jacobian Control of Robotic Systems 255 S. A. A. MOOSAVIAN and M. KARIMI 11.1. Introduction 256 11.2. TMTJ control law 257 11.3. Obtained results and discussions 265 11.3.1. Fixed base manipulator 265 11.3.2. Mobile base manipulator 269 11.4. Conclusions 272 11.5. Bibliography 273 Chapter 12. Derivative-Free Nonlinear Kalman Filtering for PMSG Sensorless Control 277 Gerasimos RIGATOS, Pierluigi SIANO and Nikolaos ZERVOS 12.1. Introduction 277 12.2. Dynamic model of the permanent magnet synchronous generator 279 12.3. Lie algebra-based design of nonlinear state estimators 282 12.4. Differential flatness for nonlinear dynamical systems 288 12.5. Differential flatness of the PMSG 293 12.6. Robust state estimation-based control of the PMSG 296 12.7. Estimation of PMSG disturbance input with Kalman filtering 298 12.8. Simulation experiments 302 12.9. Conclusions 307 12.10. Bibliography 308 Chapter 13. Construction and Control of Parallel Robots 313 Moharam HABIBNEJAD KORAYEM, Soleiman MANTEGHI and Hami TOURAJIZADEH 13.1. Introduction 313 13.2. A parallel robot mechanism 315 13.3. Actuators 324 13.4. Sensors 328 13.5. Data transfer protocol 342 13.6. Graphical user interface (GUI) 347 13.7. Result and verifications 357 13.8. Conclusion 362 13.9. Bibliography 364 Chapter 14. A Localization System for Mobile Robot Using Scanning Laser and Ultrasonic Measurement 369 Kai LIU, Hongbo LI and Zengqi SUN 14.1. Introduction 369 14.2. System configuration 371 14.3. Implementation 373 14.4. Experimental results 377 14.5. Conclusion 382 14.6. Acknowledgments 383 14.7. Bibliography 383 Chapter 15. Building of Open-Structure Wheel-Based Mobile Robotic Platform 385 Aleksandar RODIÆ and Ivan STOJKOVIÆ 15.1. Introduction 385 15.2. State of the art 386 15.3. Configuring of the experimental system 389 15.4. Modeling and simulation of the system 394 15.5. Motion planning and control 403 15.6. Simulation and experimental testing 409 15.7. Concluding remarks 416 15.8. Acknowledgments 417 15.9. Bibliography 417 15.10. Appendix 421 Chapter 16. Design and Physical Implementation of Holonomous Mobile Robot – Holbos 423 Jasmin VELAGIC, Admir KAKNJO, Faruk DAUTOVIC, Muhidin HUJDUR and Nedim OSMIC 16.1. Introduction 423 16.2. Locomotion of holonomous mobile robot 424 16.3. Mechanical design 430 16.4. Electrical design 431 16.5. Results 444 16.6. Conclusion 447 16.7. Bibliography 448 Chapter 17. Advanced Artificial Vision and Mobile Devices for New Applications in Learning, Entertainment and Cultural Heritage Domains 451 Gian Luca FORESTI, Niki MARTINEL, Christian MICHELONI and MARCO VERNIER 17.1. Introduction 451 17.2. Chapter contributions 455 17.3. Mobile devices for education purposes 456 17.4. Image processing supports HCI in museum application 461 17.5. Back to the Future: a 3D image gallery 471 17.6. Conclusions and future works 477 17.7. Bibliography 477 Chapter 18. Application of Stereo Vision and ARM Processor for Motion Control 483 Moharam HABIBNEJAD KORAYEM, Michal IRANI and Saeed RAFEE NEKOO 18.1. Introduction 483 18.2. Stereo vision 486 18.3. Triangulation 487 18.4. End-effector orientation 490 18.5. Experimental setup and results 492 18.6. Summary 497 18.7. Bibliography 498 Chapter 19. Mechatronics as Science and Engineering – or Both 501 Balan PILLAI and Vesa SALMINEN 19.1. Introduction 501 19.2. Theories and methods of design, planning and manufacturing 504 19.3. Complexity versus complicatedness 506 19.4. Benefits of fast product developments 513 19.5. Nature of product development process 516 19.6. Planning the timetable of a product design project 518 19.7. Designing the product concept 520 19.8. Enhancing conceptual design 520 19.9. Interaction between the parts of the machine 523 19.10. Effect of the strength of interaction between product parts and development speed 524 19.11. Definition of product and service 527 19.12. The case studies 529 19.13. Networking systems and learning mechanism 531 19.14. Model-based methodology: an implemented case 536 19.15. Conclusions 540 19.16. Bibliography 541 Chapter 20. A Mechatronic Platform for Robotic Educational Activities 543 Ioannis KOSTAVELIS, Evangelos BOUKAS, Lazaros NALPANTIDIS and Antonios GASTERATOS 20.1. Introduction 543 20.2. System overview 545 20.3. Educational activities 554 20.4. Experiences from educational activities 561 20.5. Conclusions 565 20.6. Acknowledgments 565 20.7. Bibliography 566 Chapter 21. The Importance of Practical Activities in the Formation of Mechatronic Engineers 569 João Carlos M. CARVALHO and Vera Lúcia D.S. FRANCO 21.1. Introduction 569 21.2. Curricular and extracurricular practical activities 575 21.3. Undergraduate course of Mechatronics Engineering at the Federal University of Uberlândia/Brazil 580 21.4. Discussions 588 21.5. Conclusions 590 21.6. Bibliography 591 List of Authors 593 Index 599

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Book SynopsisA porous medium is composed of a solid matrix and its geometrical complement: the pore space. This pore space can be occupied by one or more fluids. The understanding of transport phenomena in porous media is a challenging intellectual task. This book provides a detailed analysis of the aspects required for the understanding of many experimental techniques in the field of porous media transport phenomena. It is aimed at students or engineers who may not be looking specifically to become theoreticians in porous media, but wish to integrate knowledge of porous media with their previous scientific culture, or who may have encountered them when dealing with a technological problem. While avoiding the details of the more mathematical and abstract developments of the theories of macroscopization, the author gives as accurate and rigorous an idea as possible of the methods used to establish the major laws of macroscopic behavior in porous media. He also illustrates the constitutive laws and equations by demonstrating some of their classical applications. Priority is to put forward the constitutive laws in concrete circumstances without going into technical detail. This first volume in the three-volume series focuses on fluids in equilibrium in the pore space; interfaces, the equilibrium of solutions and freezing in porous media; and gives experimental investigations of capillary behavior and porometry, and sorption and porometry.Table of ContentsForeword ix Nomenclature xiii Introduction xvii Chapter 1. Fluids in Equilibrium in the Pore Space: Capillary Behavior 1 1.1. The pore space and its representation 1 1.1.1. Complexity of the pore space 1 1.1.2. Description of the microstructure 2 1.1.3. Porometric distribution: representation through cylindrical pores 3 1.2. Capillary pressureGL and interfacial mechanical equilibrium: Laplace’s law 4 1.2.1. Two-phase occupation of the pore space 4 1.2.2. Capillarity: wetting and interfacial tension 5 1.2.3. Laplace’s law: capillary pressure 6 1.2.4. Saturation: retention curves 9 1.2.5. Fluids and cohesion of granular media 11 1.3. Liquid–vapor thermodynamic equilibrium: Kelvin’s law 14 1.3.1. The capillary couple of volatile liquid–inert gas 14 1.3.2. Partial pressure of vapor: Kelvin’s law 15 1.3.3. Sorption isotherms: the capillary domain and the adsorption domain 17 1.3.4. State variables and “contingent variables” 18 Chapter 2. Interfaces, Equilibrium of Solutions and Freezing in Porous Media: Thermodynamic Aspects 21 2.1. Interfaces and adsorption 22 2.1.1. Interfacial films 22 2.1.2. Capillary interface 23 2.1.3. Wetting and adsorption films 25 2.1.4. Intersection of the interfaces and wetting angles 28 2.1.5. Thermodynamics of interface and adsorption 29 2.2. Solutions in porous media: capillary potential and osmotic potential 40 2.2.1. Mechanical and thermodynamic equilibrium of solutions 40 2.2.2. Osmotic barriers 43 2.3. Freezing of the interstitial liquid 44 2.3.1. Mechanical and thermodynamic equilibrium 44 2.3.2. The freezing process: thermoporometry 46 2.4. Appendix: thermodynamic points of reference 48 2.4.1. Pressure in fluids 49 2.4.2. Principles of thermodynamics and state functions 55 2.4.3. Diphasic equilibrium of a pure body 59 2.4.4. Thermodynamics of mixtures 61 2.4.5. Expression of state functions 63 Chapter 3. Capillary Behavior and Porometry: Experimental Investigation 69 3.1. Retention curves 69 3.1.1. Retention curves and morphology of the pore space 69 3.1.2. Displacements of immiscible liquids 79 3.1.3. The liquid–gas couple 86 3.1.4. The van Genuchten Form 86 3.1.5. Orders of magnitude 88 3.1.6. The case of deformable materials 89 3.2. Metrology of capillarity 90 3.2.1. Measurement of capillary pressure: tensiometer 90 3.2.2. Measuring saturation 92 3.2.3. Choice and treatment of the samples 101 3.3. Experimental determination and interpretation of retention curves 109 3.3.1. Open air drainage and imbibition 109 3.3.2. (Richards) pressure plate 113 3.3.3. Mercury porometry 116 3.3.4. Pore space and interstitial fluids imaging 121 3.4. Appendices and exercises 123 3.4.1. Hydrostatics and retention curves 123 3.4.2. Retention curves of a material with rough porometry 124 3.4.3. Dripping and centrifugation 126 3.4.4. Porometric distributions and in situ hydrostatic equilibrium 131 3.4.5. Capillary barrier 135 3.4.6. The fate of the entrained air during imbibition 137 3.4.7. Nucleation during drainage 141 3.4.8. Basic principles of percolation theory 144 Chapter 4. Sorption and Porometry: Experimental Investigations 151 4.1. Sorption metrology 151 4.1.1. Measurement of the saturation rate of vapor 152 4.1.2. Controlling the saturation rate of the vapor. Experimental determination of the sorption isotherms 156 4.2. Sorption isotherms interpretation 160 4.2.1. Capillary behavior and adsorption 160 4.2.2. Pure adsorption: BET interpretation and the specific surface 162 4.2.3. Capillary condensation: BJH interpretation 165 4.3. Thermal effects, adsorption heat and osmotic effects 169 4.3.1. The influence of temperature 169 4.3.2. Adsorption heat 170 4.3.3. Influence of dissolved species 170 4.4. Appendices and exercises 171 4.4.1. Oven drying of a hygroscopic material: simplified study 171 4.4.2. Balancing kinetics in an osmotic-conditioning chamber 174 4.4.3. BJH porometry 175 4.4.4. Mercury porometry and BJH model 176 4.4.5. Determination of the adsorption heat 180 Glossary 185 Bibliography 189 Index 193 Summary of other Volumes in the Series 195

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Book SynopsisEquilibrium and Transfer in Porous Media 3 A porous medium is composed of a solid matrix and its geometrical complement: the pore space. This pore space can be occupied by one or more fluids. The understanding of transport phenomena in porous media is a challenging intellectual task. This book provides a detailed analysis of the aspects required for the understanding of many experimental techniques in the field of porous media transport phenomena. It is aimed at students or engineers who may not be looking specifically to become theoreticians in porous media, but wish to integrate knowledge of porous media with their previous scientific culture, or who may have encountered them when dealing with a technological problem. While avoiding the details of the more mathematical and abstract developments of the theories of macroscopization, the author gives as accurate and rigorous an idea as possible of the methods used to establish the major laws of macroscopic behavior in porous media. He also illustrates the constitutive laws and equations by demonstrating some of their classical applications. The priority is to put the constitutive laws in concrete circumstances without going into technical detail. This third volume in the three-volume series focuses on the applications of isothermal transport and coupled transfers in porous media.Table of ContentsNomenclature vii Chapter 1 Isothermal Transport in Porous Media: Applications 1 1.1. Capillary transport 2 1.1.1. Isothermal transport without gravity 2 1.1.2. Capillary gravitational infiltration 7 1.2. Quasi-isothermal drying and sorption 17 1.2.1. Drying (and sorption) under isobaric atmosphere 17 1.2.2. Drying in pure vapor 28 1.3. Experimental identification and estimation of transport coefficients 34 1.3.1 Classification of experimental processes 34 1.3.2 Hydraulic conductivity and permeability 36 1.3.3. Hydric diffusivity 45 1.3.4. Transport of a volatile liquid: identification of the role of each of the phases 48 1.3.5. Diffusion and hydrodynamic dispersion coefficients 53 1.3.6. Pore structure and transport properties 60 1.4. Appendices and exercises 72 1.4.1. Diffusion and diffusion–convection equations 72 1.4.2. Gravity infiltration 81 1.4.3. Phase change and thermal transfer 86 1.4.4. Drying: quantitative evaluations 89 1.4.5. Drying under ambient atmosphere: exercises 101 1.4.6. Measurement of permeability to gas 112 1.4.7 Response to small stresses: using the linear diffusion equation 118 1.4.8. Transport coefficients: orders of magnitude 127 Chapter 2 Coupled Transfers in Porous Media: Applications 133 2.1. Transport of a volatile interstitial liquid coupled with thermal transfer 134 2.1.1. Macroscopization and transfer laws 134 2.1.2. Balances and constitutive equations 147 2.1.3. Applications 158 2.1.4. Measuring transfer coefficients 170 2.2 Coupled thermal transfer and transport during the freezing of interstitial fluid 177 2.2.1. Constitutive equations 177 2.2.2. Applications 186 2.3. Transport of a volatile liquid coupled with the diffusion of a component in solution 197 2.3.1. Constitutive equations: coupling mechanisms 197 2.3.2. A few elementary processes 201 2.4. Appendices and exercises 213 2.4.1. Laws of gaseous diffusion and apparent conductivity 213 2.4.2. Apparent thermal conductivity: the lighting of the EMT and its limits 216 2.4.3. More about the constitutive equations 224 2.4.4. Linearized equations and applications 228 2.4.5 Measuring conductivity: steady-state methods 235 2.4.6. Measuring conductivity: transient methods 248 2.4.7. Linear equations: other applications 259 2.4.8. Capillary heat pipe 275 2.4.9 Freezing in porous media 284 Glossary 299 Bibliography 305 Index 309 Summary of other Volumes in the Series 311

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Book SynopsisThree aspects are developed in this book: modeling, a description of the phenomena and computation methods. A particular effort has been made to provide a clear understanding of the limits associated with each modeling approach. Examples of applications are used throughout the book to provide a better understanding of the material presented.Table of ContentsPreface 13 Chapter 1. Vibrations of Continuous Elastic Solid Media 17 1.1. Objective of the chapter 17 1.2. Equations of motion and boundary conditions of continuous media 18 1.2.1. Description of the movement of continuous media 18 1.2.2. Law of conservation 21 1.2.3. Conservation of mass 23 1.2.4. Conservation of momentum 23 1.2.5. Conservation of energy 25 1.2.6. Boundary conditions 26 1.3. Study of the vibrations: small movements around a position of static, stable equilibrium 28 1.3.1. Linearization around a configuration of reference 28 1.3.2. Elastic solid continuous media 32 1.3.3. Summary of the problem of small movements of an elastic continuous medium in adiabatic mode 33 1.3.4. Position of static equilibrium of an elastic solid medium 34 1.3.5. Vibrations of elastic solid media 35 1.3.6. Boundary conditions 37 1.3.7. Vibrations equations 38 1.3.8. Notes on the initial conditions of the problem of vibrations 39 1.3.9. Formulation in displacement 40 1.3.10. Vibration of viscoelastic solid media 40 1.4. Conclusion 44 Chapter 2. Variational Formulation for Vibrations of Elastic Continuous Media 45 2.1. Objective of the chapter 45 2.2. Concept of the functional, bases of the variational method 46 2.2.1. The problem 46 2.2.2. Fundamental lemma 46 2.2.3. Basis of variational formulation 47 2.2.4. Directional derivative 50 2.2.5. Extremum of a functional calculus 55 2.3. Reissner’s functional 56 2.3.1. Basic functional 56 2.3.2. Some particular cases of boundary conditions 59 2.3.3. Case of boundary conditions effects of rigidity and mass 60 2.4. Hamilton’s functional 61 2.4.1. The basic functional 61 2.4.2. Some particular cases of boundary conditions 62 2.5. Approximate solutions 63 2.6. Euler equations associated to the extremum of a functional 64 2.6.1. Introduction and first example 64 2.6.2. Second example: vibrations of plates 68 2.6.3. Some results 72 2.7. Conclusion 75 Chapter 3. Equation of Motion for Beams 77 3.1. Objective of the chapter 77 3.2. Hypotheses of condensation of straight beams 78 3.3. Equations of longitudinal vibrations of straight beams 80 3.3.1. Basic equations with mixed variables 80 3.3.2. Equations with displacement variables 85 3.3.3. Equations with displacement variables obtained by Hamilton’s functional 86 3.4. Equations of vibrations of torsion of straight beams 89 3.4.1. Basic equations with mixed variables 89 3.4.2. Equation with displacements 91 3.5. Equations of bending vibrations of straight beams 93 3.5.1. Basic equations with mixed variables: Timoshenko’s beam 93 3.5.2. Equations with displacement variables: Timoshenko’s beam 97 3.5.3. Basic equations with mixed variables: Euler-Bernoulli beam 101 3.5.4. Equations of the Euler-Bernoulli beam with displacement variable 102 3.6. Complex vibratory movements: sandwich beam with a flexible inside 104 3.7. Conclusion 109 Chapter 4. Equation of Vibration for Plates 111 4.1. Objective of the chapter 111 4.2. Thin plate hypotheses 112 4.2.1. General procedure 112 4.2.2. In plane vibrations 112 4.2.3. Transverse vibrations: Mindlin’s hypotheses 113 4.2.4. Transverse vibrations: Love-Kirchhoff hypotheses 114 4.2.5. Plates which are non-homogenous in thickness 115 4.3. Equations of motion and boundary conditions of in plane vibrations 116 4.4. Equations of motion and boundary conditions of transverse vibrations 121 4.4.1. Mindlin’s hypotheses: equations with mixed variables 121 4.4.2. Mindlin’s hypotheses: equations with displacement variables 123 4.4.3. Love-Kirchhoff hypotheses: equations with mixed variables 124 4.4.4. Love-Kirchhoff hypotheses: equations with displacement variables 127 4.4.5. Love-Kirchhoff hypotheses: equations with displacement variables obtained using Hamilton’s functional 129 4.4.6. Some comments on the formulations of transverse vibrations 130 4.5. Coupled movements 130 4.6. Equations with polar co-ordinates 133 4.6.1. Basic relations 133 4.6.2. Love-Kirchhoff equations of the transverse vibrations of plates 135 4.7. Conclusion 138 Chapter 5. Vibratory Phenomena Described by the Wave Equation 139 5.1. Introduction 139 5.2. Wave equation: presentation of the problem and uniqueness of the solution 140 5.2.1. The wave equation 140 5.2.2. Equation of energy and uniqueness of the solution 142 5.3. Resolution of the wave equation by the method of propagation (d’Alembert’s methodology) 145 5.3.1. General solution of the wave equation 145 5.3.2. Taking initial conditions into account 147 5.3.3. Taking into account boundary conditions: image source 151 5.4. Resolution of the wave equation by separation of variables 154 5.4.1. General solution of the wave equation in the form of separate variables 154 5.4.2. Taking boundary conditions into account 157 5.4.3. Taking initial conditions into account 163 5.4.4. Orthogonality of mode shapes 165 5.5. Applications 168 5.5.1. Longitudinal vibrations of a clamped-free beam 168 5.5.2. Torsion vibrations of a line of shafts with a reducer 172 5.6. Conclusion 178 Chapter 6. Free Bending Vibration of Beams 181 6.1. Introduction 181 6.2. The problem 182 6.3. Solution of the equation of the homogenous beam with a constant cross-section 184 6.3.1. Solution 184 6.3.2. Interpretation of the vibratory solution, traveling waves, vanishing waves 186 6.4. Propagation in infinite beams 189 6.4.1. Introduction 189 6.4.2. Propagation of a group of waves 191 6.5. Introduction of boundary conditions: vibration modes 197 6.5.1. Introduction 197 6.5.2. The case of the supported-supported beam 197 6.5.3. The case of the supported-clamped beam 201 6.5.4. The free-free beam 206 6.5.5. Summary table 209 6.6. Stress-displacement connection 210 6.7. Influence of secondary effects 211 6.7.1. Influence of rotational inertia 212 6.7.2. Influence of transverse shearing 215 6.7.3. Taking into account shearing and rotational inertia 221 6.8. Conclusion 227 Chapter 7. Bending Vibration of Plates 229 7.1. Introduction 229 7.2. Posing the problem: writing down boundary conditions 230 7.3. Solution of the equation of motion by separation of variables 234 7.3.1. Separation of the space and time variables 234 7.3.2. Solution of the equation of motion by separation of space variables 235 7.3.3. Solution of the equation of motion (second method) 237 7.4. Vibration modes of plates supported at two opposite edges 239 7.4.1. General case 239 7.4.2. Plate supported at its four edges 241 7.4.3. Physical interpretation of the vibration modes 244 7.4.4. The particular case of square plates 248 7.4.5. Second method of calculation 251 7.5. Vibration modes of rectangular plates: approximation by the edge effect method 254 7.5.1. General issues 254 7.5.2. Formulation of the method 255 7.5.3. The plate clamped at its four edges 259 7.5.4. Another type of boundary conditions 261 7.5.5. Approximation of the mode shapes 263 7.6. Calculation of the free vibratory response following the application of initial conditions 263 7.7. Circular plates 265 7.7.1. Equation of motion and solution by separation of variables 265 7.7.2. Vibration modes of the full circular plate clamped at the edge 272 7.7.3. Modal system of a ring-shaped plate 276 7.8. Conclusion 277 Chapter 8. Introduction to Damping: Example of the Wave Equation 279 8.1. Introduction 279 8.2. Wave equation with viscous damping 281 8.3. Damping by dissipative boundary conditions 287 8.3.1. Presentation of the problem 287 8.3.2. Solution of the problem 288 8.3.3. Calculation of the vibratory response 294 8.4. Viscoelastic beam 297 8.5. Properties of orthogonality of damped systems 303 8.6. Conclusion 308 Chapter 9. Calculation of Forced Vibrations by Modal Expansion 309 9.1. Objective of the chapter 309 9.2. Stages of the calculation of response by modal decomposition 310 9.2.1. Reference example 310 9.2.2. Overview 317 9.2.3. Taking damping into account 321 9.3. Examples of calculation of generalized mass and stiffness 322 9.3.1. Homogenous, isotropic beam in pure bending 322 9.3.2. Isotropic homogenous beam in pure bending with a rotational inertia effect 323 9.4. Solution of the modal equation 324 9.4.1. Solution of the modal equation for a harmonic excitation 324 9.4.2. Solution of the modal equation for an impulse excitation 330 9.4.3. Unspecified excitation, solution in frequency domain 332 9.4.4. Unspecified excitation, solution in time domain 333 9.5. Example response calculation 336 9.5.1. Response of a bending beam excited by a harmonic force 336 9.5.2. Response of a beam in longitudinal vibration excited by an impulse force (time domain calculation) 340 9.5.3. Response of a beam in longitudinal vibrations subjected to an impulse force (frequency domain calculation) 343 9.6. Convergence of modal series 347 9.6.1. Convergence of modal series in the case of harmonic excitations 347 9.6.2. Acceleration of the convergence of modal series of forced harmonic responses 350 9.7. Conclusion 353 Chapter 10. Calculation of Forced Vibrations by Forced Wave Decomposition 355 10.1. Introduction 355 10.2. Introduction to the method on the example of a beam in torsion 356 10.2.1. Example: homogenous beam in torsion 356 10.2.2. Forced waves 358 10.2.3. Calculation of the forced response 359 10.2.4. Heterogenous beam 361 10.2.5. Excitation by imposed displacement 363 10.3. Resolution of the problems of bending 365 10.3.1. Example of an excitation by force 365 10.3.2. Excitation by torque 368 10.4. Damped media (case of the longitudinal vibrations of beams) 369 10.4.1. Example 369 10.5. Generalization: distributed excitations and non-harmonic excitations 371 10.5.1. Distributed excitations 371 10.5.2. Non-harmonic excitations 375 10.5.3. Unspecified homogenous mono-dimensional medium 377 10.6 Forced vibrations of rectangular plates 379 10.7. Conclusion 385 Chapter 11. The Rayleigh-Ritz Method based on Reissner’s Functional 387 11.1. Introduction 387 11.2. Variational formulation of the vibrations of bending of beams 388 11.3. Generation of functional spaces 391 11.4. Approximation of the vibratory response 392 11.5. Formulation of the method 392 11.6. Application to the vibrations of a clamped-free beam 397 11.6.1. Construction of a polynomial base 397 11.6.2. Modeling with one degree of freedom 399 11.6.3. Model with two degrees of freedom 402 11.6.4. Model with one degree of freedom verifying the displacement and stress boundary conditions 404 11.7. Conclusion 406 Chapter 12. The Rayleigh-Ritz Method based on Hamilton’s Functional 409 12.1. Introduction 409 12.2. Reference example: bending vibrations of beams 409 12.2.1 Hamilton’s variational formulation 409 12.2.2. Formulation of the Rayleigh-Ritz method 411 12.2.3. Application: use of a polynomial base for the clamped-free beam 414 12.3. Functional base of the finite elements type: application to longitudinal vibrations of beams 415 12.4. Functional base of the modal type: application to plates equipped with heterogenities 420 12.5. Elastic boundary conditions 423 12.5.1. Introduction 423 12.5.2. The problem 423 12.5.3. Approximation with two terms 424 12.6. Convergence of the Rayleigh-Ritz method 426 12.6.1. Introduction 426 12.6.2. The Rayleigh quotient 426 12.6.3. Introduction to the modal system as an extremum of the Rayleigh quotient 428 12.6.4. Approximation of the normal angular frequencies by the Rayleigh quotient or the Rayleigh-Ritz method 431 12.7. Conclusion 432 Bibliography and Further Reading 435 Index 439

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Book SynopsisThe term “automation” includes all topics that have traditionally been identified using names such as instrumentation, instruments and control, process control, process automation, control systems, automation and control, manufacturing control, manufacturing automation, and system integration. The topics in this book represent the scope of automation application, they include: Process and analytical instrumentation Continuous and batch control Control valves and final control elements Basic discrete, sequencing, and manufacturing control Advanced control Digital and analog communications Data management and system software Networking and security Safety and reliability System checkout, testing, start-up, and troubleshooting Project management This edition—written by 38 leading experts from all aspects of automation—provides comprehensive information about all major topics in the broad field of automation. It serves as a technical summary of automation knowledge for those who need a complete perspective on automation including: Automation professionals who need to understand the basics of an unfamiliar topic Managers who need a better perspective of all aspects of automation, enabling them to better set direction and make staffing decisions Those who work in fields related to automation, such as IT professionals who need to learn more about plant floor control and information systems Academicians who need guidance in developing and improving curriculum or courses Students, novices, and others evaluating career decisions Those studying for the ISA Certified Automation Professional® (CAP®), ISA Certified Control Systems Technician® (CCST®), and/or Control Systems Engineer (CSE) exams

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