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95 results in Engineering design, kinematics, and robotics

Page 1 of 5

Dynamics of Mechanical Systems
  • A Modern Introduction to Three-Dimensional Rigid Body Dynamics
  • Frank C. Park, Kyu Min Park
  • Coming soon
  • Expected online publication date:
    October 2025
    Print publication:
    31 October 2025
  • Written by experts in the field, this text provides a modern introduction to three-dimensional dynamics for multibody systems. It covers rotation matrices, the twist-wrench formalism for multibody dynamics and Lagrangian dynamics, an approach that is often overlooked at the undergraduate level. The only prerequisites are differential equations and linear algebra as covered in a first-year engineering mathematics course. The text focuses on obtaining and understanding the equations of motion, featuring a rich set of examples and exercises that are drawn from real-world scenarios. Readers develop a reliable physical intuition that can then be used to apply dynamic analysis software tools, and to develop simplified approximate models. With this foundation, they will be able to confidently use the equations of motion in a variety of applications, ranging from simulation and design to motion planning and control.

Fundamentals of Machine Design
  • Volume 1
  • Ajeet Singh
  • Coming soon
  • Expected online publication date:
    June 2025
    Print publication:
    29 May 2017
  • Providing extensive coverage and comprehensive discussion on the fundamental concepts and processes of machine design, this book begins with detailed discussion of the types of materials, their properties and selection criteria for designing. The text, the first volume of a two volume set, covers different types of stresses including direct stress, bending stress, torsional stress and combined stress in detail. It goes on to explain various types of temporary and permanent joints including pin joint, cotter joint, threaded joint and welded joint. Finally, the book covers the design procedure of keys, cotters, couplings, shafts, levers and springs. Also examined are applications of different types of joints used in boilers, bridges, power presses, automobile springs, crew jack and coupling.

Acting, Planning, and Learning
  • Malik Ghallab, Dana Nau, Paolo Traverso
  • Foreword by Michela Milano
  • Published online:
    19 May 2025
    Print publication:
    05 June 2025
  • AI's next big challenge is to master the cognitive abilities needed by intelligent agents that perform actions. Such agents may be physical devices such as robots, or they may act in simulated or virtual environments through graphic animation or electronic web transactions. This book is about integrating and automating these essential cognitive abilities: planning what actions to undertake and under what conditions, acting (choosing what steps to execute, deciding how and when to execute them, monitoring their execution, and reacting to events), and learning about ways to act and plan. This comprehensive, coherent synthesis covers a range of state-of-the-art approaches and models –deterministic, probabilistic (including MDP and reinforcement learning), hierarchical, nondeterministic, temporal, spatial, and LLMs –and applications in robotics. The insights it provides into important techniques and research challenges will make it invaluable to researchers and practitioners in AI, robotics, cognitive science, and autonomous and interactive systems.

Global Strength of Ships
  • Analysis and Design using Mathematical Methods
  • P. A. Caridis
  • Published online:
    20 March 2025
    Print publication:
    03 April 2025
  • For student and professional alike this book provides an all-encompassing overview of the modern theory of global ship strength. Novices will find clear descriptions of the well-established methods, both mathematical and numerical, used worldwide currently. Researchers will find detailed descriptions of the ideas underlying the theoretical basis of modern techniques whereas professionals will benefit from the fundamentals of research results that have found application in recent rules and design practice. Covering both state-of-practice and state-of-the-art of the subject in a modern and up-to-date manner, readers will gain a deeper understanding. This book includes many examples of the application of the theory to problems providing the foundation to developing software. One chapter is dedicated to tracing the development of ship structural design from prehistory to today, allowing the reader to comprehend how design and construction practice has evolved and the pivotal turning points in a long and diverse pattern of development.

Polyhedral Graphical Statics
  • For Funicular Structural Form Finding
  • Masoud Akbarzadeh
  • Published online:
    13 March 2025
    Print publication:
    20 March 2025
  • Polyhedral Graphic Statics is a geometry-based structural design method based on polyhedral reciprocal diagrams first proposed by Rankine and Maxwell 150 years ago. Providing a unique design guide for structural form finding of efficient spatial structures, this book offers up-to-date insights into the field of geometry-based structural design. The author introduces a different design domain, the force domain, and explains the relationship between the geometry of efficient structural forms and the geometric equilibrium of forces called the force diagram. Beginning with step-by-step geometric methods to construct the reciprocal force diagram for simple structural forms, the book then advances to more articulated systems. These include spatial compression-only forms and systems with mixed tensile and compressive forces. Presenting computational applications, the text provides algebraic formulation for form finding in 3D. Discover the applications of this pioneering method in Material Science, Mechanical Engineering, Aerospace, and the design of carbon-absorbing structures.

Modern Robotics
  • Mechanics, Planning, and Control
  • Kevin M. Lynch, Frank C. Park
  • Published online:
    04 June 2024
    Print publication:
    25 May 2017
  • This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. Ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra and a little bit of computing background. Modern Robotics presents the state-of-the-art, screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way. With numerous exercises at the end of each chapter, accompanying software written to reinforce the concepts in the book and video lectures aimed at changing the classroom experience, this is the go-to textbook for learning about this fascinating subject.

Computational Principles of Mobile Robotics
  • 3rd edition
  • Gregory Dudek, Michael Jenkin
  • Published online:
    19 March 2024
    Print publication:
    08 February 2024
  • Now in its third edition, this textbook is a comprehensive introduction to the multidisciplinary field of mobile robotics, which lies at the intersection of artificial intelligence, computational vision, and traditional robotics. Written for advanced undergraduates and graduate students in computer science and engineering, the book covers algorithms for a range of strategies for locomotion, sensing, and reasoning. The new edition includes recent advances in robotics and intelligent machines, including coverage of human-robot interaction, robot ethics, and the application of advanced AI techniques to end-to-end robot control and specific computational tasks. This book also provides support for a number of algorithms using ROS 2, and includes a review of critical mathematical material and an extensive list of sample problems. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.

State Estimation for Robotics
  • Second Edition
  • 2nd edition
  • Timothy D. Barfoot
  • Published online:
    11 January 2024
    Print publication:
    01 February 2024
  • A key aspect of robotics today is estimating the state (e.g., position and orientation) of a robot, based on noisy sensor data. This book targets students and practitioners of robotics by presenting classical state estimation methods (e.g., the Kalman filter) but also important modern topics such as batch estimation, Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection, and continuous-time trajectory estimation and its connection to Gaussian-process regression. Since most robots operate in a three-dimensional world, common sensor models (e.g., camera, laser rangefinder) are provided followed by practical advice on how to carry out state estimation for rotational state variables. The book covers robotic applications such as point-cloud alignment, pose-graph relaxation, bundle adjustment, and simultaneous localization and mapping. Highlights of this expanded second edition include a new chapter on variational inference, a new section on inertial navigation, more introductory material on probability, and a primer on matrix calculus.

Theory of Machines and Mechanisms
  • 6th edition
  • John J. Uicker, Jr, Gordon R. Pennock, Joseph E. Shigley
  • Published online:
    24 August 2023
    Print publication:
    03 August 2023
  • Uniquely comprehensive and precise, this thoroughly updated sixth edition of the well-established and respected textbook is ideal for the complete study of the kinematics and dynamics of machines. With a strong emphasis on intuitive graphical methods, and accessible approaches to vector analysis, students are given all the essential background, notation, and nomenclature needed to understand the various independent technical approaches that exist in the field of mechanisms, kinematics, and dynamics, which are presented with clarity and coherence. This revised edition features updated coverage, and new worked examples alongside over 840 figures, over 620 end-of-chapter problems, and a solutions manual for instructors.

Dynamic Systems and Control Engineering
  • Nader Jalili, Nicholas W. Candelino
  • Published online:
    04 August 2023
    Print publication:
    15 June 2023
  • Using a step-by-step approach, this textbook provides a modern treatment of the fundamental concepts, analytical techniques, and software tools used to perform multi-domain modeling, system analysis and simulation, linear control system design and implementation, and advanced control engineering. Chapters follow a progressive structure, which builds from modeling fundamentals to analysis and advanced control while showing the interconnections between topics, and solved problems and examples are included throughout. Students can easily recall key topics and test understanding using Review Note and Concept Quiz boxes, and over 200 end-of-chapter homework exercises with accompanying Concept Keys are included. Focusing on practical understanding, students will gain hands-on experience of many modern MATLAB® tools, including Simulink® and physical modeling in Simscape™. With a solutions manual, MATLAB® code, and Simulink®/Simscape™ files available online, this is ideal for senior undergraduates taking courses on modeling, analysis and control of dynamic systems, as well as graduates studying control engineering.

Verifiable Autonomous Systems
  • Using Rational Agents to Provide Assurance about Decisions Made by Machines
  • Louise A. Dennis, Michael Fisher
  • Published online:
    25 May 2023
    Print publication:
    08 June 2023
  • How can we provide guarantees of behaviours for autonomous systems such as driverless cars? This tutorial text, for professionals, researchers and graduate students, explains how autonomous systems, from intelligent robots to driverless cars, can be programmed in ways that make them amenable to formal verification. The authors review specific definitions, applications and the unique future potential of autonomous systems, along with their impact on safer decisions and ethical behaviour. Topics discussed include the use of rational cognitive agent programming from the Beliefs-Desires-Intentions paradigm to control autonomous systems and the role model-checking in verifying the properties of this decision-making component. Several case studies concerning both the verification of autonomous systems and extensions to the framework beyond the model-checking of agent decision-makers are included, along with complete tutorials for the use of the freely-available verifiable cognitive agent toolkit Gwendolen, written in Java.

Dynamic Systems
  • Modeling, Simulation, and Analysis
  • Bingen Yang, Inna Abramova
  • Published online:
    28 April 2023
    Print publication:
    24 November 2022
  • Presenting students with a comprehensive and efficient approach to the modelling, simulation, and analysis of dynamic systems, this textbook addresses mechanical, electrical, thermal and fluid systems, feedback control systems, and their combinations. It features a robust introduction to fundamental mathematical prerequisites, suitable for students from a range of backgrounds; clearly established three-key procedures – fundamental principles, basic elements, and ways of analysis – for students to build on in confidence as they explore new topics; over 300 end-of-chapter problems, with solutions available for instructors, to solidify a hands-on understanding; and clear and uncomplicated examples using MATLAB®/Simulink® and Mathematica®, to introduce students to computational approaches. With a capstone chapter focused on the application of these techniques to real-world engineering problems, this is an ideal resource for a single-semester course in dynamic systems for students in mechanical, aerospace and civil engineering.

Screw Theory and its Application to Spatial Robot Manipulators
  • Carl D. Crane, III, Michael Griffis, Joseph Duffy
  • Published online:
    08 September 2022
    Print publication:
    15 September 2022
  • Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.

Linear Multivariable Control Systems
  • Shankar P. Bhattacharyya, Lee H. Keel
  • Published online:
    02 June 2022
    Print publication:
    13 January 2022
  • This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

Rigid Body Dynamics
  • Joaquim A. Batlle, Ana Barjau Condomines
  • Published online:
    21 March 2022
    Print publication:
    14 April 2022
  • Building up from first principles and simple scenarios, this comprehensive introduction to rigid body dynamics gradually introduces readers to tools to address involved real-world problems, and cutting-edge research topics. Using a unique blend of conceptual, theoretical and practical approaches, concepts are developed and rigorously applied to practical examples in a consistent and understandable way. It includes discussion of real-world applications including robotics and vehicle dynamics, and over 40 thought-provoking fully worked examples to cement readers' understanding. Providing a wealth of resources allowing readers to confidently self-assess – including over 100 problems with solutions, over 400 high quality multiple choice questions, and end-of-chapter puzzles dealing with everyday situations – this is an ideal companion for undergraduate students in aerospace, civil and mechanical engineering.

Frameworks, Tensegrities, and Symmetry
  • Robert Connelly, Simon D. Guest
  • Published online:
    13 January 2022
    Print publication:
    27 January 2022
  • This introduction to the theory of rigid structures explains how to analyze the performance of built and natural structures under loads, paying special attention to the role of geometry. The book unifies the engineering and mathematical literatures by exploring different notions of rigidity - local, global, and universal - and how they are interrelated. Important results are stated formally, but also clarified with a wide range of revealing examples. An important generalization is to tensegrities, where fixed distances are replaced with 'cables' not allowed to increase in length and 'struts' not allowed to decrease in length. A special feature is the analysis of symmetric tensegrities, where the symmetry of the structure is used to simplify matters and allows the theory of group representations to be applied. Written for researchers and graduate students in structural engineering and mathematics, this work is also of interest to computer scientists and physicists.

Vibration Protection Systems
  • Negative and Quasi-Zero Stiffness
  • Chang-Myung Lee, Vladimir Nicholas Goverdovskiy
  • Published online:
    29 October 2021
    Print publication:
    18 November 2021
  • Design and deploy advanced vibration protection systems based on elastic composites under post-buckling, with this essential reference. Methods for designing vibration protection systems with negative and quasi-zero stiffness are formulated, explained, and demonstrated in practice. All key steps of the system design are covered, including the type and number synthesis, modelling and studying of stress-strain state under post-buckling of elastic composite designs, chaotic dynamics and stability conditions, real-time dimensioning, and active motion control. In addition to coverage of underlying theory, the use in helicopters, buses, railroad vehicles, construction equipment and agricultural machinery are included. An excellent reference for researchers and practicing engineers, as well as a tutorial for university students and professors with an interest in study, development and application of alternative methods of vibration protection anywhere.

Dynamics of Multibody Systems
  • Ahmed A. Shabana
  • Published online:
    14 September 2020
    Print publication:
    05 March 2020
  • This fully revised fifth edition provides comprehensive coverage of flexible multibody system dynamics. Including an entirely new chapter on the integration of geometry, durability analysis, and design, it offers clear explanations of spatial kinematics, rigid body dynamics, and flexible body dynamics, and uniquely covers the basic formulations used by the industry for analysis, design, and performance evaluation. Included are methods for formulating dynamic equations, the floating frame of reference formulation used in small deformation analysis, and the absolute nodal coordinate formulation used in large deformation analysis, as well as coverage of industry durability investigations. Illustrated with a wealth of examples and practical applications throughout, it is the ideal text for single-semester graduate courses on multibody dynamics taken in departments of aerospace and mechanical engineering, and for researchers and practicing engineers working on a wide variety of flexible multibody systems.

Rigid Body Kinematics
  • Joaquim A. Batlle, Ana Barjau Condomines
  • Published online:
    26 August 2020
    Print publication:
    10 September 2020
  • Master the conceptual, theoretical and practical aspects of kinematics with this exhaustive text, which provides a rigorous analysis and description of general motion in mechanical systems, with numerous examples from spinning tops to wheel ground-vehicles. Over 400 figures illustrate the main ideas and provide a geometrical interpretation and a deeper understanding of concepts, and exercises and problems throughout the text provide additional hands-on practice. Ideal for students taking courses on rigid body kinematics, and an invaluable reference for researchers.

Forms and Concepts for Lightweight Structures
  • Koryo Miura, Sergio Pellegrino
  • Published online:
    09 March 2020
    Print publication:
    26 March 2020
  • Covering a wide range of structural concepts and presenting both relevant theories and their applications to actual structures, this book brings together for the first time lightweight structures concepts for many different applications and the relevant scientific literature, thus providing unique insights into a fascinating field of human endeavour. Evolved from a series of graduate courses taught by the authors at the University of Tokyo, the Institute of Space and Astronautical Science, the University of Cambridge and the California Institute of Technology, this textbook provides both theoretical and practical insights and presents a range of examples which also provide a history of key lightweight structures since the Apollo age. This essential guide will inspire the imagination of engineers and provide an analytical foundation for all readers.

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