Engineering Creative Design in Robotics and Mechatronics

Preface

Robotics and Mechatronics successfully fuse (but are not limited to) mechanics, electrical, electronics, sensors and perception, informatics and intelligent systems, control systems and advanced modeling, optics, smart materials, actuators, systems engineering, artificial intelligence, intelligent computer control, precision engineering, virtual modeling, etc. into a unified framework that enhances the design of products and manufacturing processes. 

The synergy in engineering creative design and development enables a higher level of interdisciplinary research that leads to high quality performance, smart and high functionality, precision, robustness, power efficiency, application flexibility and modularity, improved quality and reliability, enhanced adaptability, intelligence, maintainability, better spatial integration of subsystems (embodied systems), miniaturization, embedded lifecycle design, sustainable development, and cost effective approach. The adoption of such a synergized inter- or trans-disciplinary approach to engineering design implies a greater understanding of the design process. 

While the technologies are advancing in different directions and there continues to be progressive evolution of interdisciplinary development in terms of research, education, and product development, there is continuous and growing interest in the fields of robotics and mechatronics. This book aims to capture the state-of-art research developments in the subject area of engineering creative design in robotics and mechatronics, and to provide relevant theoretical knowledge in the field, technological evolution, and new findings. This book includes 17 chapters, divided into four sections.

The first section covers chapters 1-6, which present robotics-mechatronics and biomimetics as an interdisciplinary engineering science. It covers topics on: “Silicon Micro-Robot with Neural Networks; “Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy”; “Design for Information Processing in Living Neuronal Networks”; “Novel Swimming Mechanism for a Robotic Fish”; “Efficient Evolution of Modular Robot Control via Genetic Programming”; and “Awareness-Based Recommendation: Toward the Human Adaptive and Friendly Interactive Learning System.”

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The second section includes chapters 7-10. It introduces research topics related to advancement in robotics with main focus on control and stability, visual servoing, inferring intention, and sensors. The third section covers chapters 11-13. It focuses on teleoperation and associated research issues in different applications, such as: “Development and Simulation of an Adaptive Control System for the Teleoperation of Medical Robots“; “Design and Development of Teleoperation for Forest Machines: An Overview”; “Time Delay and Uncertainty Compensation: State-of-Art and with Case Studies.”

FORMULAS FOR DYNAMICS, ACOUSTICS AND VIBRATION

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Chemical Vapor Deposition

Abstract

Hydrocarbon gas or carbon monoxide was pyrolyzed by chemical vapor deposition (CVD), and carbon nanofiber (CNF) synthesis was performed using transition metals such as Ni, Fe, and Co as catalysts. When synthesizing carbon nanofibers using the CVD method, experimental variables are temperature, catalysts, source gas, etc. Especially, the particle size of the catalyst is the most important factor in determining the diameter of carbon nanofibers. Hydrocarbon gases, such as CH4, C2H4, benzene, and toluene are used as the carbon source, and in addition to these reaction gases, nonreactive gases such as H2, Ar, and N2 gases are used for transportation. Synthesis occurs at a synthesis temperature of 600–900°C, and catalyst metals such as Ni, Co, and Fe are definitely required when synthesizing CNFs. Therefore, it is possible to synthesize CNFs in selective areas through selective deposition of such catalyst metals. In this study, CNFs were synthesized by CVD. Ethylene gas was employed as the carbon source for synthesis of CNFs with H2 as the promoting gas and N2 as the balancing gas. Synthesized CNFs can be used in various applications, such as composite materials, electromagnetic wave shielding materials, ultrathin display devices, carbon semiconductors, and anode materials of Li secondary batteries. In particular, there is an increasing demand for light-weight, small-scale, and high-capacity batteries for portable electronic devices, such as notebook computers or smartphones along with the recent issue of fossil energy depletion. Accordingly, CNFs and their silicon-series composites are receiving attention for use as anode materials for lithium secondary batteries that are eco-friendly, light weight, and high capacity.

1. Introduction

Chemical vapor deposition (CVD) is widely used as a surface treatment technology for materials. CVD forms a solid-state thin film mostly on the surface and is used not only to produce high-purity bulk materials and powder but also to manufacture composite materials through infiltration techniques. 

CVD is used to deposit a wide variety of materials. Most of the elements in the periodic table deposited in the pure element are formed by CVD technology. However, they are deposited mostly in the compound form rather than the pure element form. CVD can make precursor gases flow to one or more heated objects in a chamber to coat the desired compound. A chemical reaction occurs on the hot surface, and this leads to the deposition of a thin film on the surface. This reaction also produces the unreacted precursor gas and the chemical byproduct discharged from the chamber at the same time. 

CVD can deposit many kinds of materials and can be applied to broad areas, so the synthesis condition is also diverse. CVD synthesis can occur in a high- or low-temperature reactor, the pressure ranges from sub-Torr pressures to above-atmospheric pressures, regardless of the kind of catalyst, and the reaction temperature can range from 200 to 1600°C to diversify the synthesis condition.

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THE ANALYSIS AND DESIGN OF LINEAR CIRCUITS

PREFACE

CONTINUING FEATURES OBJECTIVES 

This text remains structured around a sequence of carefully defined cognitive learning objectives and related evaluation tools based on Bloom’s Taxonomy of Educational Objectives. The initial learning objectives focus on enabling skills at the knowledge, comprehension, and application levels of the taxonomy that we call ChapterLearningObjectives.Asstudentsdemonstratemasteryoftheselowerlevels, they are introduced to higher level objectives involving analysis, synthesis (design), and evaluation. Each learning objective is explicitly stated in terms of expected studentproficiencyinthehomeworksections,andeachisfollowedbyatleast 10homework problems specifically designed to evaluate student mastery of the objective. This framework has been a standard feature of all eight editions of this book and has allowed us to maintain a consistent level of expected student performance over the years. We also list our objectives in the chapter openers to orient the student to theexpectedoutcomes.Theseobjectivesmakeiteasiertoassessstudentlearningand prepare for accreditation reviews. To fulfill ABET Criterion 3: The program must have documented student outcomes that prepare graduates to attain the program educational objectives. And to fulfill Criterion 4: The program must regularly use appropriate, documented processes for assessing and evaluating the extent to which the student outcomes are being attained. The results of these evaluations must be systematically utilized as input for the continuous improvement of the program. Other available information may also be used to assist in the continuous improvement of the program. Read More Or Download

Every homework section ends with several integrating problems that test mastery of concepts that cover several objectives. These more in-depth problems test whether thestudentnotonlyhasmasteredindividualobjectivesbutalsowasabletointegrate knowledge across several objectives.

The CSI Sustainable Design and Construction Practice Guide

Introduction to the Practice Guide Series

Beginning with the publication of the fi rst Manual of Practice (MOP) in 1967 continuing through the publication of its successor document, the Project Resource Manual (PRM), it has been the intent of CSI that these publications embody accepted standards for the preparation of construction specifi cations and project manuals, and a detailed source of information on quality documentation for the life cycle of a facility. 

Th rough these publications, CSI has sought to aid owners, designers, specifi ers, contract administrators, contractors, construction product representatives, and facility managers in the performance of their jobs. 

In 2008, CSI began an eff ort to update the knowledge formerly contained in the MOP and PRM to present it anew and ensure its continued relevance. As with the earlier collections of this knowledge, the intent is to provide an authoritative resource on the organization, preparation, use, and interpretation of construction documents, encompassing the entire life cycle of a facility from conception through facility management. 

To accomplish this update CSI established the Practice Guides Task Team. One of the task team charges was to organize the presentation of this information into modules to support areas of practice where CSI currently off ers certifi cates and certifi cations, such as Project Delivery addressed  by the Construction Documents Technology (CDT) certifi cate; Specifi cations, addressed by the Certifi ed Construction Specifi er (CCS) certifi cation; Contract Administration, addressed by the Certifi ed Construction Contract Administrator (CCCA) certifi cation; and Product Representation, addressed by the Certifi ed Construction Product Representative (CCPR) certifi cation, as well as other areas of practice for which education and certifi cation may be developed. 

To keep current with changes in the industry, the task team also reviewed other CSI documents and standards, and updated references to them that appear in the Practice Guides. A similar eff ort was made to incorporate changes in contract documents produced by Th e American Institute of Architects (AIA) and the Engineers Joint Construction Documents Committee (EJCDC), and to introduce the new standard contract documents developed by the ConsensusDOCS Coalition. 

Th e task team also recognized the growing impact of “green” or sustainable practices on the subject matter contained in the Practice Guides. Each Practice Guide now addresses the topic of sustainable practice to some degree and a more detailed examination of the topic is contained in this Practice Guide. 

Two other topics that have had an impact on the Practice Guides are: Building Information Modeling (BIM) and Integrated Project Delivery (IPD). Th e growing impact of BIM on the practice of specifi cation writing and its potential impact on quality documentation made a discussion of this topic imperative. Likewise, IPD has grown in importance over the past several years and has had an impact on the way practitioners relate to the process of creating and interpreting construction documents.

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Digital Electronics 2

Preface

The omnipresence of electronic devices in everyday life is accompanied by the size reduction and the ever-increasing complexity of digital circuits. This comprehensive and easy-to-understand work deals with basic principles of digital electronics and allows the reader to grasp the subtleties of digital circuits from logic gates to finite-state machines. It presents all the aspects related to combinational logic and sequential logic. It introduces techniques to establish in a simple and concise manner logic equations, as well as methods for the analysis and design of digital circuits. Emphasis has been especially laid on design approaches that can be used to ensure a reliable operation of finite-state machines. Various programmable logic circuit structures and their applications are also presented. Each chapter includes practical examples and well-designed exercises with worked solutions.

This series of books discusses all the different aspects of digital electronics, following a descriptive approach combined with a gradual, detailed, and comprehensive presentation of basic concepts. The principles of combinational and sequentiallogicarepresented,aswellastheunderlyingtechniquesfortheanalysisand design of digital circuits. The analysis and design of digital circuits with increasing complexityisfacilitatedbytheuseofabstractionsatthecircuitandarchitecturelevels. This work consists of three volumes devoted to the following subjects: 

1) combinational logic circuits; 

2) sequential and arithmetic logic circuits; 

3) finite state machines.

A progressive approach has been chosen and the chapters are relatively independent of each other. To help master the subject matter and put into practice the different concepts and techniques, topics are complemented by a selection of exercises with solutions.

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ON SUBLIMATION, A Path to the Destiny of Desire,

 INTRODUCTION

us how the concept of sublimation originated, in sequence, from the notions of “reaction formation” from “reversal into the opposite” and from “aim inhibition” to its definition by Freud as “the third and most complete drive destiny”. 

Later on, when theoretical and clinical models that were different to Freudian metapsychology came into the picture, the author shows that even if it has continued to operate in the clinical reality of individuals and the community, it has often done so in disguise and within different theorisations.

Certainly, the affirmation of the object relations theoretical model in psychoanalytic thinking has encouraged a change of emphasis. However, a series of psychic processes previously defined as “sublimatory” have been shown as an effect of a process of “reparation” of the object, this latter concept developed by Melanie Klein. Still within the Kleinian realm, the link between sublimation and symbolisation has been pointed out with great perspicuity, in my opinion, and with Winnicott sublimation virtually coincides with the formation of cultural experience, which, as the author observed, indicates a shift from instinct to object. André Green, despite respect for Freud’s approach, did not fail to relate sublimation to the instincts of the ego and, hence, according to the second topic, with the death drives, in the formulation of the “objectivising function” concept, implicitly touches on something concerning the process of sublimation. The same notion of “figurability”, elaborated by Sára and César Botella, could not be conceived without a reference—more or less implicit—to sublimation. But this, as Valdrè points out, means that sublimation does not concern so much real desexualisation, and so Thanatos, as it does Eros, understood as an “objectualising function” and so with a representational function. In each case the link between sublimation and symbolisation remains evident in all of this theorising including Matte Blanco’s interpretation where sublimation is bound up with a process of formalisation. Lastly, Lacan, on the basis of Freud’s defining it as the third and most complete drive destiny, holds that sublimation is the manifestation of the elevation of the representation of the Thing. In short, the link between sublimation and creativity appears clear, on the basis of the closeness between sexuality and artistic experience intended also as curiosity fulfilled. So in the light of more recent theorisations we have to consider that for a full understanding of sublimatory phenomena it is necessary to have a theoretical capacity that oscillates between the metapsychological and objectival approach. 

If, as far as the manifestations of psychopathology and of the psychology of the individual are concerned, the disappearance of sublimation, as the author maintains, seem more apparent than real, how are things on the collective functioning level? Here I have to recognise a profound transformation in social functioning. In the words of J. F. Lyotard we must say that, with the transit from modernity to postmodernity or, to radical modernity, we have come out of the grands récits, from the ideologies that have characterised philosophical and political modernity and we are, to use Zygmunt Bauman’s term, in a sort of “liquid society”. Psychoanalysis, that—principally, though not exclusively—of Lacanian origin, speaks of the fall of “the Name of the Father” (le Nom du Père) that is of oedipal order. This implies a regression to a functioning that is closer to that of a “primitive horde” in which it is not “the law” that holds sway but rather—in a context characterised by a sort of homo homini lupus est—it is the strongest, who on the basis of his strength, commands and establishes the law. 

With the words of René Kaës, the fall of the “metasocial guarantors” results in the correlative fall of the “metapsychic guarantors”, that is to say, the function in accordance with the oedipal structure. At the level of the psychology of the individual, this leads to a regression, if not a disappearance, of the “subjectival dimension”, that is to say, of the possibility to become a “subject” of a psychic organisation founded on the conflict between desire and prohibition, this latter being a process on which Kultur is founded. 

That being so, in this situation the sublimation process fails and is replaced by the “order of pleasure”. Paradoxically, here, the superego’s injunction is turned upside down and becomes, “Enjoy!”. Clearly the object is more interchangeable than ever and must always be available, and so his will be a statute that is absolutely narcissistic. 

In the light of these cultural transformations, what will be the fate of the process of civilisation and the consequent “discontent” involved due to the drive repression that is necessary to it? What we see in postmodern society is that the reduction of drive repression and the corresponding push to sublimation means that the gain permitted by the latter, in terms of a partial freedom from the coaction of the drives, is failing, leaving individuals totally subject to the imperative of the drives.

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ARCHITECTURE: COMFORT AND ENERGY

Energy and architecture form a natural marriage if indoor comfort and respect for environment are secured. The role of energy within buildings varies from country to country, climate to climate; from 30% in OECD countries, 50% in non-OECD Europe to 70% in developing countries. Population growth and demand for housing have forced poUticians to embark on massive housing schemes without consideration of comfort, energy demand and environmental issues. In this book we are seeking to understand how previous generations lived in harsh climates and without abundant sources of energy, yet managed to design and build appropriate dwelUngs providing both comfort and harmony with the environment. We have only to look at the Vernacular architecture which existed in the areas of extreme climate such as India, Africa and Scandinavia where indigenous materials were utilised to construct attractive and comfortable homes.

Modern technology has provided us with excellent new materials such as "switchable'' material', light but strong structural materials and a variety of insulations. It is now commonly accepted by architects and builders that due consideration must be given to energy conservation; the use of natural Hghting and use of solar energy for both heating and cooling; as well as enhanced natural ventilation and minimal impact on the environment.

In this book we seek to approach the architecture-energy combination and its relationship to the environment. There are chapters on thermal comfort, low energy architecture deaUng with various criterion for comfort in different parts of the World. For example in the State of Qatar 50% of the energy used in that country can be saved by using low energy buildings with several measures such as shading, evaporative cooHng, the use of appropriate thermal mass and natural ventilation coupled with radiative cooUng. Contemporary architecture, in some cases, ignores most of these elements and concentrates on using excessive energy to cool or heat buildings. In the Gulf Region, 70% of the electricity generated is used for cooling the buildings. 

Other chapters state the principles of thermal comfort, how the thermal exchange takes place between man and the various parts of the building elements. Some authors developed their own models to evaluate such exchange. The bioclimatic concept in Vernacular Architecture was addressed thoroughly in one chapter starting a good comparison between Vernacular and contemporary architecture, then addressing the impact of climate on the building forms. The climate which plays a major role at different locations and how this dictates the shape and form of the buildings and save some energy. The igloo of the Inuit and the open courtyard houses of the Mediterranean are good examples of typologies depending on the climate. 

Another chapter is devoted to the importance of micro-climate and its various elements and usage to obtain comfort such as the air movement, the Sun effect, the thermal mass, the vegetation, shading devices and the use of water and moisture in improving Hving conditions in a dry climate. 

One of the most important energy saving elements in buildings is the use of daylighting to conserve and reduce heat gain into buildings. It explains the various conditions of the sky, the basic physical principle of lighting, the physiology of vision, and goes to the use of daylighting in architecture to improve the building design and accesses this use effectively.

Ventilation and its importance in buildings was presented in another chapter where the indoor pollutants, ventilation strategies, the air flow principles, air leakage in buildings, natural and solar induced ventilation and mechanical ventilation were explained and their usage was demonstrated. 

The last chapter outHnes in depth the technology for modern architecture. The elements and concepts such as ventilated roofs, active curtain walls, the use of greenhouses, movable shading devices, hght ducts, integrated ventilation, cooHng elements and the use of outdoor spaces are all researched and their uses have been illustrated in this chapter.

We hope the book will be of use to architectural students; building technologists; energy experts and urban and town planners. It will be equally interesting to all those who are concerned about the environment and advocate the use of appropriate technologies to reduce energy consumption. 

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WordPress 2.7 Cookbook

 

Preface

About 120,000 blogs are created every day. Most of them quickly die, but a few stay, grow up, and then become well known and respected places on the Web. If you are seriously interested in being in the top league, you will need to learn all the tricks of the trade. WordPress 2.7 Cookbook focuses on providing solutions to common WordPress problems, to help make sure that your blog will be one of the ones that stay. 

The author's experience with WordPress enables him to share insights on using WordPress effectively, in a clear and friendly way, giving practical hands-on solutions  to WordPress problems, questions, and common tasks—from themes to widgets and  from SEO to security. 

Are you feeling limited with WordPress, or are you wondering how popular blogs do a certain kind of thing that you can't? With this cookbook, you will learn many WordPress secrets and techniques with step-by-step, useful recipes dedicated to achieving a particular goal or solving a particular problem. You'll learn the secret of expensive  premium themes, how to optimize your blog for SEO and online profits, and how to supercharge WordPress with killer functions used by the most popular blogs over  the Internet.

What this book covers 

Chapter 1 introduces you to WordPress. It introduces you to some basic—but often forgotten—built-in tools to make your blogger life easier. 

Chapter 2 discusses the various WordPress themes and provides you with the location where to find professional—but free—themes. It also teaches you how to install and customize these themes. Chapter 3 teaches you how to customize any existing WordPress theme and make it fit your taste and need.

Chapter 4 describes an easy procedure to install plugins. It shows what different plugins can do for you in particular situations. It also teaches you how to download and install widgets and how to make a WordPress theme widget-ready. 

Chapter 5 describes the procedure to display posts and to retrieve post information  from WordPress. Chapter 6 teaches you to manage a multi-author blog and integrate powerful functions for creating an author page template. 

Chapter 7 educates you about hacks, plugins, and tips and tricks to secure your database and your WordPress blog. Chapter 8 teaches you—by providing you with tips and tricks—the art of getting traffic from search engines to your blog. 

Chapter 9 discusses the monetization solution that can be used in a WordPress blog.  It will also provide you with many tips and tricks to make money while blogging. 

Chapter 10 helps you make your blog easy and functional for your visitors. 

Chapter 11 provides you with tips and hacks to make your blog better than your competitor's blog.

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Tricks of the eBay® Masters

Where Can You Find the eBay Masters? 

The eBay Masters spend a lot of time on eBay, as you might suspect. Not only do they have a lot of auctions running at any given time, they’re also a vital part of the eBay community. 

What is this eBay community, you ask? Well, eBay has a vibrant set of discussion forums (located at pages.ebay.com/community/boards/), where the most interested— and most interesting—buyers and sellers hang out and discuss the issues of the day. These discussion forums are where I found most of the eBay Masters, all of whom gladly offered to contribute their words of wisdom for this book. 

And here’s the interesting thing. The eBay community is actually a number of different small communities. The folks you meet on the Auction Listings board are different folks from those you meet on the Packaging & Shipping board, who are different from the folks you meet on the Collectibles board. Since each board is organized around a particular topic or type of merchandise, members tend to pick one or two forums and make their contributions there. The result is that the Clothing, Shoes, & Accessories board has a completely different personality than the Booksellers board, and you’ll meet different users on each board. The common factor is that they’re all friendly, and they’re all incredibly helpful. Spend some time on the boards with the eBay Masters, and don’t be shy about asking questions—or offering your own unique contribution.

Now, don’t get all freaked out about this, but there are a lot of scam artists out there, and they’re all intent on parting you from your money. These crooks existed long before the Internet came into existence, but they’ve learned to adapt their thieving ways to the new online medium. They also know a good thing when they see it, so many of these scammers have focused intently on eBay’s massive user base for potential victims. 

Some scammers focus on eBay buyers; I discuss these frauds in Chapter 4, “How to Be a Smarter—and Safer—Buyer.” Other scammers target eBay sellers; I discuss these frauds in Chapter 17, “How to Deal with Customer Problems—and Problem Customers.” But there are also a class of scams that target all eBay users, and you need to know about them.  Please Click Here For Download Ebook