This book contains papers presented during the 10th Asian Conference on Multibody Systems (ACMD) and 6th Joint International Conference on Multibody System Dynamics (IMSD). The papers cover the state-of-the-art research relating to multibody dynamics, including the development of algorithms, computational efficiency, and analytical outlooks. It focuses on the utilization of multibody systems for social application, with sections catering to the field of flexible body dynamics and vehicle d...

The book describes the methodologies for dynamics formulation, balancing, and optimizing dynamic quantities of multibody systems, such as mechanisms and robots. The writing equations of motion of multibody systems are simplified by using Decoupled Natural Orthogonal Complementary (DeNOC) matrices-based methodology originally proposed by the second author. Writing equations of motion using a DeNOC based approach enables the analytical expressions of even complicated systems which provide be...

This book presents the selection, analysis, and design approach for the technologies developed for the Base of the economic Pyramid (BoP). It focuses on the design, selection, and analysis of technologies tailored specifically for resource-constrained environments. Established multi-attribute decision-making methods, such as TOPSIS, have been used to create a framework for the selection of appropriate technology. A scenario-based selection methodology has been proposed, along with a softwa...

This book comprises the proceedings of a rural technologies conference organised by the Rural Technology Action Group (RuTAG), which was conceptualized and initiated by Principal Scientific Adviser (PSA) to the Government of India R. Chidambaram in 2003–04. The book highlights case studies and research into providing science and technology interventions for the development of rural areas. Covering various aspects of research carried out in the area of rural technologies, it offers a valuab...

This book focuses on end-to-end robotic applications using vision and control algorithms, exposing its readers to design innovative solutions towards sensors-guided robotic bin-picking and assembly in an unstructured environment. The use of sensor fusion is demonstrated through a bin-picking task of texture-less cylindrical objects. The system identification techniques are also discussed for obtaining precise kinematic and dynamic parameters of an industrial robot which facilitates the con...

This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or...

This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of seve...

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete wit...

A practical introduction, the second edition of Fluid Simulation for Computer Graphics shows you how to animate fully three-dimensional incompressible flow. It covers all the aspects of fluid simulation, from the mathematics and algorithms to implementation, while making revisions and updates to reflect changes in the field since the first edition.Highlights of the Second EditionNew chapters on level sets and vortex methods

This textbook explores both the theoretical foundation of the Finite Volume Method (FVM) and its applications in Computational Fluid Dynamics (CFD). Readers will discover a thorough explanation of the FVM numerics and algorithms used for the simulation of incompressible and compressible fluid flows, along with a detailed examination of the components needed for the development of a collocated unstructured pressure-based CFD solver. Two particular CFD codes are explored. The first is uFVM, ...

Micro- and nanosystems represent an area of major scientific and technological opportunity and challenge, with actual and potential applications in almost all fields of human activity. The aim of this book is to present the central concepts of dynamic control systems (modeling, estimation, observation, identification, feedback control) and to show how they can be adapted and applied to the development of novel very small-scale systems and their associated human interfaces. The application ...

Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. - World class authority· Unique range of coverage not available in any other book - Provides ...