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 is intended as a textbook providing a deliberately simple introduction to finite element methods in a way that should be readily understandable to engineers, both students and practising professionals. Only the very simplest elements are considered, mainly two dimensional three-noded “constant strain triangles”, with simple linear variation of the relevant variables. Chapters of the book deal with structural problems (beams), classification of a broad range of engineering into ha...

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

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 ...

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, ...

The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort ...

Coulson and Richardson's Chemical Engineering: Volume 3B: Process Control, Fourth Edition, covers reactor design, flow modeling, and gas-liquid and gas-solid reactions and reactors. - Converted from textbooks into fully revised reference material - Content ranges from foundational through to technical - Added emerging applications, numerical methods and computational tools

Vibration and structural acoustics analysis has become an essential requirement for high-quality structural and mechanical design in order to assure acoustic comfort and the integrity, reliability and fail-safe behavior of structures and machines.The underlying technologies of this field of multidisciplinary research are evolving very fast and their dissemination is usually scattered over different and complementary scientific and technical publication means. In order to make it ea...

Using fundamentals of communication theory, thermodynamics, information theory and propagation theory, this book explains the universal principles underlying a diverse range of electro-optical systems. From fiber optics and infra-red imaging to free space communications and laser remote sensing, the authors relate key concepts in science and device engineering to practical systems issues. A broad spectrum of coherent and incoherent imaging and communications systems is considered, accompan...

In recent years, Moore's law has fostered the steady growth of the field of digital image processing, though the computational complexity remains a problem for most of the digital image processing applications. In parallel, the research domain of optical image processing has matured, potentially bypassing the problems digital approaches were suffering and bringing new applications. The advancement of technology calls for applications and knowledge at the intersection of both areas but ther...

This book reviews a variety of methods for wave-based acoustic simulation and recent applications to architectural and environmental acoustic problems.Following an introduction providing an overview of computational simulation of sound environment, the book is in two parts: four chapters on methods and four chapters on applications. The first part explains the fundamentals and advanced techniques for three popular methods, namely, the finite-difference time-domain method, the finit...