The CRC handbook of mechanical engineering

Cover\r......Page 1
Front Matter......Page 2
1.1 Introduction......Page 24
Vectors. Equilibrium of Particles. Free-Body Diagrams......Page 25
Unit Vectors......Page 26
Vector Determination from Scalar Information......Page 27
Example 1......Page 28
Equivalent Forces......Page 29
Moment of a Force about a Point......Page 30
Force-Couple Transformations......Page 31
Judgment of the Result......Page 32
Calculation of Unknown Forces and Moments......Page 33
Schematic Example in Two Dimensions (Figure 1.2.13)......Page 34
Example 3......Page 35
Example 4......Page 36
Classification of Supports......Page 37
Shear Force and Bending Moment Diagrams......Page 38
Example 5......Page 39
Trusses......Page 40
Example 6......Page 41
Method of Sections......Page 42
Center of Gravity......Page 43
Distributed Loads on Beams......Page 44
Distributed Loads on Flexible Cables......Page 45
Classifications and Procedures for Solving Friction Problems......Page 46
Axle Friction......Page 47
Work of a Force......Page 48
Gravitational Work and Potential Energy......Page 49
Moments of Inertia......Page 50
Polar Moment of Inertia of an Area......Page 51
1.3 Dynamics......Page 52
Example 8......Page 53
Useful Expressions Based on Acceleration......Page 54
Vector Notation in Rectangular (Cartesian) Coordinates......Page 55
Tangential and Normal Components......Page 56
Relative Motion of Particles in Two and Three Dimensions......Page 57
Equations of Motion......Page 58
Power......Page 59
Linear and Angular Momentum Methods......Page 60
Time Rate of Change of Angular Momentum......Page 61
Motion of the Center of Mass......Page 62
Momentum Methods for a System of Particles......Page 63
Kinematics of Rigid Bodies......Page 64
Rotation about a Fixed Axis......Page 65
Velocities in General Plane Motion......Page 66
Acceleration in General Plane Motion......Page 67
General Motion of a Rigid Body......Page 68
Example 9......Page 69
Equation of Translational Motion......Page 70
Rotation about a Fixed Axis not through the Center of Mass......Page 71
General Plane Motion......Page 72
Principle of Work and Energy......Page 73
Impulse and Momentum of a Rigid Body......Page 74
Conservation of Momentum......Page 75
Impulse and Momentum of a Rigid Body in Three-Dimensional Motion......Page 76
Solution of Problems in Three-Dimensional Motion......Page 77
Undamped Free and Forced Vibrations......Page 78
Damped Free and Forced Vibrations......Page 80
Vibration Isolation......Page 81
Balancing of Rotating Components......Page 83
Random Vibrations. Shock Excitation......Page 84
Vibration-Measuring Instruments......Page 85
Plane Stress......Page 88
Stress Transformation......Page 89
MohrÌs Circle for Plane Stress......Page 90
Special Cases of MohrÌs Circles for Plane Stress......Page 91
Normal Strain......Page 92
Strain Transformation......Page 93
MohrÌs Circle for Plane Strain......Page 94
StressÒStrain Diagrams......Page 95
Generalized StressÒStrain Expressions. HookeÌs Law......Page 96
Thermally Induced Deformations......Page 97
Inelastic Bending......Page 98
Composite Beams......Page 99
Shear Flow......Page 100
Shear Flow in Thin-Walled Beams......Page 101
Integration Method for Slope and Displacement......Page 102
Torsion......Page 103
Angle of Twist......Page 104
Noncircular Shafts......Page 105
Statically Indeterminate Axially Loaded Members......Page 106
Critical Load. EulerÌs Equation......Page 107
Inelastic Buckling......Page 108
Combined Stresses......Page 109
Cylindrical Shells......Page 110
Example 10......Page 112
Example 11......Page 113
Nozzle Reinforcement......Page 114
Thick-Walled Cylinders and Interference Fits......Page 115
Example 13......Page 118
Properties of Strain-Measuring Systems......Page 119
Electrical-Resistance Strain Gage Mounting Methods......Page 120
Gage Sensitivities and Gage Factor......Page 121
Optical Methods of Strain Analysis......Page 122
Mechanical Testing......Page 125
1.6 Structural Integrity and Durability......Page 126
Stress Concentrations......Page 127
Linear-Elastic Fracture Mechanics (LEFM)......Page 129
Fracture Toughness of Notched Members......Page 130
Design and Failure Analysis Using Stress Intensity Concepts......Page 133
Creep and Stress Relaxation......Page 134
Mechanical Models of Viscoelastic Behaviors......Page 135
TimeÒTemperature Parameters. Life Estimation......Page 136
Material Properties in Cyclic Loading......Page 137
Trends in S-N Curves......Page 138
Variable Amplitude Loading......Page 140
N) Curves......Page 142
Fracture Mechanics Method in Fatigue......Page 144
Abridged Example of a Modern Fatigue Analysis......Page 145
Dynamics......Page 147
Illustrations......Page 148
Defining Terms......Page 149
Further Information......Page 152
Engineering Thermodynamics......Page 154
Phase and Pure Substance......Page 155
Temperature......Page 156
Energy......Page 157
Heat......Page 158
Power Cycles......Page 159
Irreversibilities......Page 160
Kelvin Temperature Scale......Page 161
The Clausius Inequality......Page 162
Entropy......Page 163
Entropy Balance......Page 164
Control Volume Energy Balance......Page 166
Control Volume Entropy Balance......Page 167
Control Volumes at Steady State......Page 168
Example 2......Page 171
Internally Reversible Heat Transfer and Work......Page 172
Basic Relations for Pure Substances......Page 174
Example 4......Page 175
Specific Heats and Other Properties......Page 176
Example 5......Page 177
Relations......Page 178
Surface......Page 180
Compressibility Charts......Page 182
Equations of State......Page 183
Gas Mixtures......Page 187
Evaluating .h, .u, and .s......Page 189
Fundamental Thermodynamic Functions......Page 191
Thermodynamic Data Retrieval......Page 192
Ideal Gas Model......Page 195
Polytropic Processes......Page 197
Example 8......Page 198
Ideal Gas Mixtures......Page 200
Moist Air......Page 201
Generalized Charts for Enthalpy, Entropy, and Fugacity......Page 202
Multicomponent Systems......Page 204
Chemical Potential......Page 206
Ideal Solution......Page 207
Reaction Equations......Page 208
Example 9......Page 209
Property Data for Reactive Systems......Page 210
Enthalpy of Formation......Page 211
Example 10......Page 213
Gibbs Function of Formation......Page 215
Example 11......Page 216
Example 12......Page 217
2.5 Exergy Analysis......Page 218
Dead States......Page 219
Control Volume Exergy Rate Balance......Page 220
Chemical Exergy......Page 221
Example 13......Page 222
Exergetic Efficiency......Page 223
Example 14......Page 224
Exergy Costing......Page 226
Rankine and Brayton Cycles......Page 227
Otto, Diesel, and Dual Cycles......Page 230
2.7 Guidelines for Improving Thermodynamic Effectiveness......Page 234
References......Page 237
Fluid Mechanics......Page 239
Hydrostatic Pressure......Page 240
Manometry......Page 241
Forces on Plane Surfaces......Page 242
Forces on Curved Surfaces......Page 243
Buoyancy......Page 244
Uniform Linear Acceleration......Page 245
Further Information......Page 246
Reynolds Transport Theorem......Page 247
Conservation of Momentum......Page 248
Conservation of Energy......Page 249
Problem......Page 250
Mass Conservation Û Continuity Equation......Page 251
Momentum Conservation......Page 252
Analysis of Rate of Deformation......Page 253
Energy Conservation Û Mechanical and Thermal Energy Equations......Page 255
Boundary Conditions......Page 257
Vorticity in Incompressible Flow......Page 258
Stream Function......Page 260
Problem......Page 261
General Principles......Page 263
Example 3.3.1: Fully Developed Flow of Water Through a Smooth Round Pipe......Page 265
in a Round Tube......Page 267
Example 3.3.3: Free Convection from a Vertical Isothermal Plate......Page 269
Correlation of Experimental Data and Theoretical Values......Page 271
The Evaluation of......Page 272
Intermediate Regimes......Page 274
Example 3.3.5: The Friction Factor for Commercial Pipes for All Conditions......Page 275
3.4 Hydraulics of Pipe Systems......Page 278
Fluid Friction......Page 279
Minor Losses......Page 281
Pipe Selection......Page 283
Control Valves......Page 285
Air Valves......Page 292
Relief Valves......Page 293
Single Pump Selection......Page 294
Variable-Speed Pumps......Page 295
Pump Operation......Page 297
Pump Cavitation......Page 299
External Loads......Page 300
Nomenclature......Page 301
References......Page 302
Uniform Flow......Page 304
Critical Flow......Page 305
Hydraulic Jump......Page 306
Weirs......Page 307
Gradually Varied Flow......Page 308
Nomenclature......Page 310
References......Page 311
The Boundary Layer Concept......Page 312
Exact Solution of the Laminar Flat-Plate Boundary Layer......Page 313
Approximate Solutions......Page 314
Drag......Page 316
Friction Drag......Page 317
Friction and Pressure Drag: Bluff Bodies......Page 318
Airfoils......Page 319
Suction and Blowing......Page 320
Defining Terms......Page 321
Introduction......Page 322
One-Dimensional Flow......Page 324
Normal Shock Wave......Page 325
One-Dimensional Flow with Heat Addition......Page 327
Quasi-One-Dimensional Flow......Page 329
Nozzle Flow......Page 331
Diffuser......Page 332
Oblique Shock Waves......Page 333
Thin-Airfoil Theory......Page 336
Further Information......Page 338
Fundamentals......Page 339
Flow Regimes......Page 342
Void Fractions......Page 344
Flow Regimes......Page 347
Minimum Fluidization......Page 348
Terminal Slip Velocity......Page 349
Pneumatic Conveying......Page 350
Nomenclature......Page 351
References......Page 353
Classification of Non-Newtonian Fluids......Page 354
Constitutive Equations......Page 356
Modified Power Law Constitutive Equation......Page 357
Modified Power Law Fluids......Page 358
Fully Developed Turbulent Flow Pressure Drops......Page 361
Fully Developed Turbulent Flow Pressure Drops......Page 363
Fully Developed Laminar Flow Pressure Drops......Page 364
Nomenclature......Page 365
References......Page 366
Coefficient of Friction......Page 367
Wear......Page 368
Petroleum Oils......Page 373
Properties of Petroleum Oils......Page 375
Synthetic Oils......Page 378
Solid Lubricants......Page 379
Journal Bearings......Page 380
Types of Thrust Bearings......Page 387
Performance Analysis......Page 390
Example......Page 392
Oil-Film Bearing Materials......Page 393
Plastics......Page 394
Types of Rolling Element Bearings......Page 396
Rolling Element Bearing Materials......Page 399
Selection of Rolling Element Bearings......Page 400
Rolling Bearing Lubrication......Page 401
Self-Contained Units......Page 403
Dynamic Seals......Page 405
References......Page 407
Introduction......Page 408
Pumps......Page 409
Centrifugal and Other Velocity-Head Pumps......Page 410
Positive-Displacement Pumps......Page 411
Selecting a Pump Based upon Flow Considerations......Page 412
Vacuum Pumps......Page 415
Fans......Page 416
References......Page 419
Spray Characterization......Page 420
Atomizer Types......Page 422
Subscripts......Page 428
Restriction Flow Meters for Flow in Ducts......Page 429
Orifice Plates......Page 431
Venturi Meters......Page 433
Linear Flow Meters......Page 434
Rotameters......Page 435
Turbine Flow Meters......Page 436
Vortex Shedding Meters......Page 437
Thermal Mass Flow Meters......Page 438
Coriolis Meters......Page 439
Electromagnetic Flow Meters......Page 440
Pressure Probes......Page 441
Hot-Wire Anemometry......Page 443
Constant Temperature Anemometry Fundamentals......Page 444
Equations Governing Hot-Wire Anemometry......Page 445
Probe Design......Page 446
Multicomponent Probes......Page 447
Corrections Due to Temperature......Page 448
Principle of Operation......Page 449
Particle Image Velocimetry......Page 452
References......Page 455
Standards......Page 456
Other Pressure Gages......Page 458
Introduction......Page 460
Experimental Techniques......Page 461
Surface Roughness, Adhesion, and Friction......Page 463
Scratching, Wear, and Indentation......Page 465
Boundary Lubrication......Page 468
References......Page 469
Nomenclature for Fluid Mechanics......Page 470
Subscripts......Page 472
Heat and Mass Transfer......Page 473
Fourier\'s Law......Page 474
The Plane Wall at Steady State......Page 475
The Overall Heat Transfer Coefficient......Page 476
Critical Thickness of Insulation......Page 477
Fins......Page 478
Bodies with Significant Internal Resistance......Page 481
Finite-Difference Analysis of Conduction......Page 482
Further Information......Page 484
Introduction......Page 485
Correlations for External Natural Convection......Page 487
Correlations for Open Cavities......Page 489
Heat Transfer in Enclosures......Page 491
Example Calculations......Page 493
Special Nomenclature......Page 495
Further Information......Page 496
Flat Plate......Page 497
Flows with Zero Pressure Gradient and Negligible Viscous Dissipation......Page 498
Uniform Surface Temperature Û Pr > 0.7: Unheated Starting Length......Page 500
Flat Plate with Prescribed Nonuniform Surface Temperature......Page 502
Flows with Pressure Gradient and Negligible Viscous Dissipation......Page 503
Parallel to the Surface......Page 504
and Viscous Dissipation......Page 505
Flow over Cylinders, Spheres, and Other Geometries......Page 507
Heat Transfer across Tube Banks......Page 508
Example......Page 511
Heat Transfer with Jet Impingement......Page 514
References......Page 516
Further Information......Page 517
Introduction......Page 518
Heat Transfer Correlations......Page 519
Mixed Convection......Page 524
Nomenclature......Page 525
Further Information......Page 526
Nature of Thermal Radiation......Page 527
Blackbody Radiation......Page 528
Radiative Properties of Surfaces......Page 529
View Factors......Page 532
Example 4.3.2......Page 535
Radiative Exchange between Opaque Surfaces (Net Radiation Method)......Page 538
Example 4.3.4......Page 539
Example 4.3.5......Page 540
Radiative Properties of Molecular Gases......Page 543
Example 4.3.6......Page 546
Radiative Properties of Particle Clouds......Page 547
Heat Exchange in the Presence of a Participating Medium......Page 548
Example 4.3.7......Page 549
Advanced Concepts......Page 550
Defining Terms......Page 552
Introduction......Page 553
Boiling......Page 554
Pool Boiling......Page 555
Internal Convective Boiling......Page 560
Condensation......Page 563
Defining Terms......Page 567
References......Page 568
Introduction......Page 569
Bubbling Fluidized Beds......Page 570
Fast-Circulating Fluidized Beds......Page 572
Further Information......Page 574
Introduction and Overview......Page 575
Melting and Freezing of Pure Materials......Page 577
Some Approximate Solutions......Page 582
Estimation of Freezing and Melting Time......Page 585
References......Page 587
4.5 Heat Exchangers......Page 588
Thermocouples......Page 646
Types and Description......Page 589
Exchanger Heat Transfer and Pressure Drop Analysis......Page 597
Heat Transfer and Flow Friction Correlations......Page 611
Exchanger Design Methodology......Page 615
Fouling in Heat Exchangers......Page 622
Nomenclature......Page 626
References......Page 628
Nomenclature of Heat Exchanger Components......Page 630
Construction Features......Page 631
Principles of Design......Page 635
Approximate Design Method......Page 638
Example of the Approximate Design Method......Page 644
References......Page 645
Thermistors......Page 652
Resistance Temperature Detectors......Page 654
Radiation Devices......Page 656
Temperature-Sensitive Paints, Crayons, and Badges......Page 658
Heat Flux......Page 660
Planar Heat Flux Gauge......Page 661
Fast Response Heat Flux Gages......Page 662
Steady-State Errors in Solid and Surface-Temperature Measurements......Page 665
Steady-State Errors in Heat Flux Gauges for Convective Heat Transfer......Page 666
Direct Methods......Page 667
Indirect Methods......Page 669
References......Page 670
Definitions of Concentrations......Page 671
Concentrations at Interfaces......Page 673
Definitions of Fluxes and Velocities......Page 675
Ordinary Diffusion......Page 676
Species Conservation Equation......Page 678
Steady Diffusion through a Plane Wall......Page 681
Transient Diffusion in a Semi-Infinite Solid......Page 682
Transient Diffusion in Slabs, Cylinders, and Spheres......Page 684
Diffusion in a Porous Catalyst......Page 685
Diffusion with One Component Stationary......Page 687
Heterogeneous Combustion......Page 688
Droplet Combustion......Page 689
Mass and Mole Transfer Conductances......Page 691
Low Mass Transfer Rate Theory......Page 692
Analogy between Convective Heat and Mass Transfer......Page 693
Simultaneous Heat and Mass Transfer......Page 694
The Wet- and Dry-Bulb Psychrometer......Page 696
Variable Property Effects of High Mass Transfer Rates......Page 698
Introduction......Page 703
Single-Phase Free Convection......Page 705
Single-Phase Forced Convection......Page 706
Active and Compound Techniques for Single-Phase Forced Convection......Page 709
Pool Boiling......Page 710
Convective Boiling/Evaporation......Page 711
Convective Condensation......Page 712
References......Page 713
Packing Thermal Performance......Page 714
Thermal-Hydraulic Design of Cooling Towers......Page 718
Cooling Tower Behavior......Page 720
Cooling Demand Curves......Page 722
References......Page 723
Heat Pipe Container, Working Fluid, and Wick Structures......Page 724
Heat Transfer Limitations......Page 726
Effective Thermal Conductivity and Heat Pipe Temperature Difference......Page 728
Design Example......Page 729
Further Information......Page 734
Free Convection Air Cooling of Vertical Printed Circuit Boards......Page 735
Forced Convection Air Cooling of Vertical PCBs......Page 737
Nucleate Pool Boiling......Page 738
Single-Phase and Boiling Forced Convection in Channel Flow......Page 739
Immersion Cooling Using Jets......Page 740
Introduction......Page 741
Laminar Duct Heat Transfer - Purely Viscous, Time-Independent Non- Newtonian Fluids......Page 742
Turbulent Duct Flow for Purely Viscous Time-Independent Non- Newtonian Fluids......Page 745
Free Convection Flows and Heat Transfer......Page 746
Vertical Parallel Plates......Page 747
Sphere and Horizontal Cylinder Û Power Law Fluids......Page 748
References......Page 749
Coupling Temperature History to Rate Processes......Page 750
Tissue Thermal Transport Properties......Page 751
Measurement of Thermal Conductivity and Diffusivity......Page 752
Estimation of Heat Transfer Coefficient......Page 757
Temperature-Dependent Thermal Properties......Page 760
Introduction......Page 764
Limitations of PennesÌ Model......Page 766
Continuum Models......Page 767
Vasculature-Based Models......Page 768
Thermal Measurements of Perfusion......Page 771
Physiological Processes of Thermoregulation......Page 774
Thermoregulatory Processes......Page 775
Wissler Model of Human Thermoregulation......Page 776
Therapeutic Heating......Page 778
Heat Generation Modalities......Page 779
Tissue Effects: Elevated Temperatures......Page 780
Theory of Rate Process Descriptions......Page 781
Application of Kinetic Formulations in Thermal Damage Studies......Page 785
Histologic Markers of Thermal Damage*......Page 788
Damage Rate Process Coefficients......Page 793
Summary......Page 797
Cryopreservation......Page 798
Acknowledgments......Page 806
References......Page 807
Appendix A......Page 819
References......Page 821
Appendix B......Page 822
References......Page 827
Electrical Engineering......Page 831
5.2 Fundamentals of Electric Circuits......Page 832
Electric Power and Sign Convention......Page 835
Characteristics......Page 836
Resistance and OhmÌs Law......Page 837
Open and Short Circuits......Page 839
Series Resistors and the Voltage Divider Rule......Page 841
Example 5.2.2 The Wheatstone Bridge......Page 842
Practical Voltage and Current Sources......Page 843
The Voltmeter......Page 845
The Node Voltage Method......Page 846
Node Voltage Analysis Method......Page 847
One-Port Networks and Equivalent Circuits......Page 848
Determination of Norton or Thªvenin Equivalent Resistance......Page 849
Experimental Determination of Thªvenin and Norton Equivalents......Page 850
Description of Nonlinear Elements......Page 852
The Ideal Capacitor......Page 853
Example 5.4.1 Capacitive Displacement Transducer and Microphone......Page 855
The Ideal Inductor......Page 856
Time-Dependent Signal Sources......Page 859
Average and RMS Values......Page 860
Solution of Circuits Containing Dynamic Elements......Page 861
Phasors......Page 863
Impedance......Page 864
Example 5.4.2 Capacitive Displacement Transducer......Page 866
Instantaneous and Average Power......Page 867
Power Factor......Page 868
Complex Power......Page 869
Power Factor, Revisited......Page 871
Example 5.5.1......Page 872
Example 5.5.2......Page 873
The Ideal Transformer......Page 876
Three-Phase Power......Page 877
Balanced Wye Loads......Page 879
Balanced Delta Loads......Page 880
Generation and Distribution of AC Power......Page 881
5.6 Frequency Response, Filters, and Transient Analysis......Page 882
Filters......Page 883
Low-Pass Filters......Page 884
Example 5.6.1 Wheatstone Bridge Filter......Page 886
Band-Pass Filters......Page 887
Transient Analysis......Page 890
Example 5.6.2 Pulse Response......Page 891
Junctions......Page 893
Ideal Diode Model......Page 895
Offset Diode Model......Page 897
The Full-Wave Rectifier......Page 898
The Bridge Rectifier......Page 899
DC Power Supplies and Voltage Regulation......Page 900
Example 5.7.1......Page 902
Photodiodes......Page 903
Example 5.7.2 Opto-Isolators......Page 904
The Bipolar Junction Transistor (BJT)......Page 905
Example 5.7.3 LED Driver......Page 908
Field-Effect Transistors......Page 911
Transistor Gates and Switches......Page 913
Digital Gates......Page 914
Classification of Power Electronic Devices......Page 917
Classification of Power Electronic Circuits......Page 919
Thyristors and Controlled Rectifiers......Page 921
Choppers (DC-DC Converters)......Page 925
Inverters (DC-AC Converters)......Page 928
The Operational Amplifier......Page 929
The Open-Loop Model......Page 930
The Operational Amplifier in the Closed-Loop Mode......Page 931
Example 5.9.1 An EKG Amplifier......Page 934
Example 5.9.2 Instrumentation Amplifier......Page 935
Active Filters......Page 936
Example 5.9.3 Charge Amplifiers......Page 940
Voltage Supply Limits......Page 942
Input Offset Voltage......Page 943
Slew Rate Limit......Page 944
Common-Mode Rejection Ratio (CMRR)......Page 945
Analog and Digital Signals......Page 946
Addition and Subtraction......Page 948
Conversion from Decimal to Binary......Page 949
Complements and Negative Numbers......Page 950
Binary Codes......Page 951
Boolean Algebra......Page 952
AND and OR Gates......Page 953
NAND and NOR Gates......Page 957
Karnaugh Maps and Logic Design......Page 958
Sum-of-Products Realizations......Page 960
Example 5.10.3......Page 961
Example 5.10.4 Safety Circuit for Operation of a Stamping Press......Page 962
Multiplexers......Page 964
Read-Only Memory (ROM)......Page 965
Example 5.10.5 EPROM-Based Lookup Table......Page 967
Decorders and Read and Write Memory......Page 968
Latches and Flip-Flops......Page 969
Digital Counters......Page 974
Example 5.10.6 Measurement of Angular Position......Page 976
Registers......Page 977
Measurement Systems......Page 978
Motion and Dimensional Measurements......Page 979
Flow Measurementrs......Page 980
Temperature Measurements......Page 981
Wiring, Grounding, and Noise......Page 983
Signal Sources and Measurement System Configurations......Page 984
Noise Sources and Coupling Mechanisms......Page 986
Noise Reduction......Page 987
Instrumentation Amplifiers......Page 988
Active Filters......Page 989
Digital-to-Analog Converters......Page 992
Example 5.11.1......Page 994
Analog-to-Digital Converters......Page 995
Example 5.11.2......Page 998
Data Acquisition Systems......Page 999
Timer ICs: the NE555......Page 1000
Data Transmission in Digital Instruments......Page 1001
The IEEE 488 Bus......Page 1002
The RS-232 Standard......Page 1005
The Magnetic Field and FaradayÌs Law......Page 1008
Self- and Mutual Inductance......Page 1010
Example 5.12.1 Linear Variable Differential Transformer (LVDT)......Page 1011
Amp¿reÌs Law......Page 1013
Magnetic Circuits......Page 1015
Example 5.12.2 Magnetic Reluctance Position Sensor......Page 1017
Curves......Page 1019
Electromechanical Energy Conversion......Page 1021
Forces in Magnetic Structures......Page 1022
Moving-Iron Transducers......Page 1023
Moving-Coil Transducers......Page 1024
Example 5.12.4 The Loudspeaker......Page 1026
Rotating Electric Machines......Page 1028
Basic Classification of Electric Machines......Page 1029
Other Characteristics of Electric Machines......Page 1030
Magnetic Poles in Electric Machines......Page 1033
Physical Structure of DC Machines......Page 1036
DC Machine Models......Page 1037
AC Machines......Page 1040
Rotating Magnetic Fields......Page 1041
The Induction Motor......Page 1043
Performance of Induction Motors......Page 1045
Stepping Motors......Page 1046
The Universal Motor......Page 1047
Capacitor-Type Motors......Page 1049
Shaded-Pole Motors......Page 1050
Summary of Single-Phase Motor Characteristics......Page 1051
Section 7......Page 1052
Section 12......Page 1053
6.1 Human-Machine Interaction......Page 1055
Direct Manual Control......Page 1056
Supervisory Control......Page 1057
Flight Management Systems......Page 1059
Air Traffic Control......Page 1060
Advanced Traffic Management Systems......Page 1062
Telerobots for Space, under the Sea, and Medicine......Page 1063
Human Workload and Human Error......Page 1065
Trust......Page 1066
How Far to Go with Automation......Page 1067
Feedback-Loop System......Page 1068
Direct-Acting Feedback Control......Page 1069
Steady-State Operation......Page 1071
Dynamic Response......Page 1072
Frequency Domain Representation of a Process Û Laplace Transforms......Page 1073
Discrete Time Domain Representation of a Process......Page 1074
Steady-State Effects of Controller Gain......Page 1075
PID Controller in Time Domain......Page 1076
Domain......Page 1077
Stability......Page 1078
Tuning of Feedback Loops......Page 1080
Overview of Neural Networks......Page 1082
Using Networks for Controlling Feedback Loop Processes......Page 1083
Architecture of the Network......Page 1084
Using Networks as Supervisory Controllers......Page 1085
Fuzzy Logic Controllers......Page 1086
Basic Aspects of an FLC......Page 1088
Scale Factors and Output Gain......Page 1095
6.6 Control of Distributed Generation Technologies......Page 1096
Simple Buyback......Page 1097
Optimal Control......Page 1098
Complete Optimization......Page 1099
References......Page 1101
Additional Reading......Page 1102
Energy Resouces......Page 1103
7.1 Introduction......Page 1104
7.2 Types of Derived Energy......Page 1105
Coal Composition and Classification......Page 1107
Coal Analysis and Properties......Page 1110
Coal Reserves......Page 1112
Important Terminology: Resources, Reserves, and the Demonstrated Reserve Base......Page 1113
Transportation......Page 1114
Defining Terms......Page 1120
Further Information......Page 1121
Overview......Page 1122
Crude Oil Classification and World Reserves......Page 1123
Standard Fuels......Page 1124
Overview......Page 1126
Compressed Natural Gas......Page 1127
Physical Properties of Hydrocarbons......Page 1128
Further Information......Page 1129
Potential Forestry Biomass Resources Worldwide......Page 1130
Biomass Facility Supply Considerations......Page 1131
Biomass Conversion Technologies......Page 1132
Chemical Characteristics......Page 1133
Combustion Applications......Page 1135
Electric Power Generation from Biomass......Page 1136
Thermal Gasification Technologies......Page 1138
Biological Process Technologies......Page 1141
Liquid Fuels and Bioproducts from Lignocellulosics......Page 1142
References......Page 1144
Further information......Page 1145
Sources of Nuclear Fuels and World Reserves......Page 1146
Processing of Nuclear Fuel......Page 1147
7.6 Solar Energy Resources......Page 1148
Solar Energy Availability......Page 1149
Earth-Sun Relationships......Page 1150
Solar Time......Page 1151
Solar Radiation on a Tilted Surface......Page 1152
Solar Radiation Measurements......Page 1153
Solar Radiation Data......Page 1154
Wind Origins......Page 1156
Wind Energy Resource......Page 1157
Wind Energy Potential......Page 1159
Heat Flow......Page 1162
Geothermal Applications......Page 1163
Environmental Constraints......Page 1166
Operating Conditions......Page 1167
References......Page 1170
Further Information......Page 1171
Energy Conversion......Page 1172
Introduction......Page 1173
Rankine Cycle Analysis......Page 1174
References......Page 1176
Steam Boilers......Page 1177
Blading......Page 1179
Choosing the Turbine Arrangement......Page 1181
Valves......Page 1182
Heat Exchangers......Page 1183
Generators......Page 1184
Generator Auxiliaries......Page 1186
Power Plant System......Page 1187
Overview......Page 1189
Fuels and Firing......Page 1190
Efficiency......Page 1191
Cycle Configurations......Page 1192
Components Used in Complex Cycles......Page 1194
Upper Temperature Limit......Page 1197
Combustion......Page 1198
Defining Terms......Page 1199
Appendix......Page 1200
Introduction......Page 1201
Four-Stroke SI Engine......Page 1202
Two-Stroke SI Engine......Page 1203
Compression Ignition Engine......Page 1204
Constant-Volume Heat Addition Û Ideal Otto Cycle......Page 1207
Constant-Pressure Heat Addition Û Ideal Diesel Cycle......Page 1208
Actual Cycles......Page 1209
Combustion in Spark Ignition Engines......Page 1211
Combustion in Compression Ignition Engines......Page 1213
Harmful Constituents......Page 1215
Control of Emissions from IC Engines......Page 1216
Background......Page 1217
Gasoline......Page 1218
Diesel Fuels......Page 1219
Backround......Page 1220
Turbocharging......Page 1221
Defining Terms......Page 1223
References......Page 1224
8.4 Hydraulic Turbines......Page 1225
Turbine Classification......Page 1226
Similitude and Scaling Formulae......Page 1228
Performance Characteristics......Page 1231
Speed Regulation......Page 1234
Cavitation and Turbine Setting......Page 1235
Model Tests......Page 1236
Numerical Simulation1......Page 1237
Field Tests......Page 1239
Defining Terms......Page 1241
Introduction......Page 1242
Thermodynamic Implementation of the Stirling Cycle......Page 1243
Power Control......Page 1244
Piston/Displacer Configurations......Page 1245
Piston/Displacer Drives......Page 1246
Materials......Page 1249
Defining Terms......Page 1250
Books......Page 1251
Introduction......Page 1252
Fuels for Electric Power Generation in the U.S.......Page 1253
Clean Coal Technology Development......Page 1254
Pulverized-Coal Plants......Page 1255
Materials Advances......Page 1256
Supercriticals......Page 1257
Emissions Controls for Pulverized Coal Plants (Armor and Wolk, 2002)......Page 1259
Spray Drying......Page 1260
Control of Nitrogen Oxides......Page 1261
Control of Mercury (EPRI, 2000)......Page 1263
Fluidized Bed Plants......Page 1264
Gasification Plants......Page 1267
Polk County IGCC......Page 1269
Combustion Turbine Plants......Page 1270
Humidified Air Power Plants (Cohn, 1994)......Page 1271
Other Combustion Turbine Cycle Enhancements (Lukas, 1986)......Page 1273
Overall Plant Performance and Cost Estimates......Page 1274
Summary......Page 1275
Defining Terms......Page 1276
References......Page 1278
Thermal Energy Storage (TES)......Page 1279
Applications and Examples......Page 1281
Potential Energy......Page 1282
Electrical Energy Storage......Page 1283
Defining Terms......Page 1284
8.8 Nuclear Power......Page 1285
The Fission Process......Page 1286
Nuclear Fuel......Page 1287
Conversion and Breeding......Page 1288
Light-Water Reactors......Page 1289
Pressurized Water Reactors......Page 1290
Boiling Water Reactors......Page 1291
Introduction......Page 1292
Fusion Energy Conversion and Transport......Page 1293
Further Information......Page 1295
Flat Plate Collectors......Page 1296
Collector Thermal Performance......Page 1299
Forced Circulation......Page 1300
Solar Thermal Power......Page 1302
Central Receiver System......Page 1303
Parabolic Dish Systems......Page 1304
Defining Terms......Page 1305
Introduction......Page 1306
Wind Turbine Aerodynamics......Page 1308
Aerodynamic Models......Page 1310
Momentum Models......Page 1311
Vortex Models......Page 1312
Hybrid Models......Page 1313
Horizontal Axis Turbines......Page 1314
Vertical Axis Turbines......Page 1315
Yaw Systems......Page 1316
Peak Power Regulation System......Page 1317
Wind Turbine Materials......Page 1318
References......Page 1319
Further Information......Page 1320
Geothermal Resource Characteristics Applicable to Energy Conversion......Page 1321
Electrical Energy Generation from Geothermal Resources......Page 1322
Flash Steam Systems Û Liquid Dominated Resources......Page 1323
Binary Systems Û Liquid-Dominated Resources......Page 1325
Defining Terms......Page 1327
Introduction to Semiconductors......Page 1328
The p-n Junction Diode......Page 1329
Cell Operation and Efficiency......Page 1330
Cell Material vs. Efficiency......Page 1333
Manufacture of Cells and Panels......Page 1334
Design of a Photovoltaic Generating System......Page 1337
References......Page 1338
Introduction......Page 1339
Thermodynamic Performance......Page 1340
Types of Fuel Cells......Page 1343
Fuel Cell Performance......Page 1345
Nomenclature......Page 1347
Introduction......Page 1348
Principles of Thermionic Energy Conversion......Page 1349
Converter Output Characteristics......Page 1351
Thermodynamic Analysis......Page 1352
References......Page 1353
Thermoelectric Effects......Page 1354
Thermoelectric Applications......Page 1355
Additional Considerations......Page 1359
Defining Terms......Page 1360
Introduction......Page 1361
Electrical Conductivity Considerations......Page 1362
Generator Configurations and Loading......Page 1363
Heat Sources, Applications, and Environmental Considerations......Page 1364
Ocean Thermal Energy Conversion......Page 1365
Wave Power......Page 1366
References......Page 1367
Combined-Cycle Concepts......Page 1368
Combined-Cycle Thermodynamics......Page 1369
Combined-Cycle Arrangements......Page 1370
Combined Heat and Power from Combined-Cycle Plants......Page 1373
Further Information......Page 1374
Air- Conditioning and Refrigeration......Page 1376
Air-Conditioning Systems......Page 1377
Types of Air-Conditioning Systems......Page 1378
Air-Conditioning Project Development and System Design......Page 1379
Mechanical EngineerÌs Responsibilities......Page 1382
Computer-Aided Design and Drafting......Page 1383
Moist Air......Page 1384
Humidity and Enthalpy......Page 1385
Moist Volume, Density, Specific Heat, and Dew Point......Page 1386
Thermodynamic Wet Bulb Temperature and Wet Bulb Temperature......Page 1387
Psychrometric Charts......Page 1388
Air-Conditioning Processes......Page 1390
Space Conditioning, Sensible Cooling, and Sensible Heating Processes......Page 1391
Humidifying and Cooling and Dehumidifying Processes......Page 1392
Cooling and Dehumidifying Process......Page 1394
Two-Stream Mixing Process and Bypass Mixing Process......Page 1395
Air-Conditioning Cycle and Operating Modes......Page 1396
Basic Air-Conditioning Cycle Û Summer Mode......Page 1397
Design Supply Volume Flow Rate......Page 1398
Rated Supply Volume Flow Rate......Page 1399
Effect of the Altitude......Page 1400
Example 9.3.1......Page 1401
Basic Air-Conditioning Cycle Û Winter Mode......Page 1402
Example 9.3.2......Page 1403
Warm Air Supply without Space Humidity Control......Page 1404
Refrigeration and Refrigeration Systems......Page 1405
Classification of Refrigerants......Page 1406
Phaseout of CFCs, BFCs, HCFCs, and Their Blends......Page 1411
Required Properties of Refrigerants......Page 1412
Refrigeration Processes in an Ideal Single-Stage Cycle......Page 1413
Coefficient of Performance of Refrigeration Cycle......Page 1415
Refrigeration Cycle of Two-Stage Compound Systems with a Flash Cooler......Page 1416
Cascade System Characteristics......Page 1418
Indoor Design Criteria and Thermal Comfort......Page 1419
Indoor Air Quality and Outdoor Ventilation Air Requirements......Page 1420
Sound Levels......Page 1422
Design Conditions......Page 1423
Building Heat Transmission Coefficient......Page 1424
Heat Gains......Page 1425
Heat Balance......Page 1427
Zones......Page 1428
Heating Loads......Page 1430
CLTD/SCL/CLF Method for Cooling Loads......Page 1431
Solar Cooling Load......Page 1432
Lighting Loads......Page 1433
Appliance and Equipment Loads......Page 1434
Basis of the Method......Page 1435
Conductive Heat Gain......Page 1436
The Load at Constant Temperature......Page 1439
Rooftop and Indoor Units......Page 1440
Rooftop Packaged Units......Page 1441
Split Packaged Units......Page 1442
Direct Expansion (DX) Coil......Page 1443
Coil Accessories and Servicing......Page 1445
Test Methods......Page 1446
Low-Efficiency Air Filters......Page 1447
Activated Carbon Filters......Page 1448
Humidifiers......Page 1449
Performance Indices......Page 1450
Scroll Compressors......Page 1451
Centrifugal Compressors......Page 1453
Air-Cooled Condensers......Page 1454
Water-Cooled Condensers......Page 1455
Evaporators and Refrigerant Flow Control Devices......Page 1457
Direct Evaporative Cooler......Page 1459
Indirect Evaporative Coolers......Page 1460
Volume Flow and Temperature Difference......Page 1461
Piping Arrangements......Page 1462
Warm Air Furnaces......Page 1465
Hot Water Boilers......Page 1467
Low-Temperature Hot Water Heating System Using Fin-Tube Heaters......Page 1469
Classifications of Refrigeration Systems......Page 1471
Direct Expansion Refrigeration Systems......Page 1472
Heat Pumps......Page 1475
Centrifugal Chillers......Page 1476
Screw Chillers......Page 1480
Full Storage and Partial Storage......Page 1482
System Characteristics......Page 1483
Basics......Page 1484
Flow Resistance......Page 1485
Fan-Laws......Page 1486
System Effect......Page 1487
Example 9.13.1......Page 1488
Supply and Exhaust Fan/Barometric Damper Combination......Page 1489
Supply Fan and Return Fan Combination......Page 1490
Year-Round Operation and Economizers......Page 1491
Basics......Page 1492
9.14 Absorption System......Page 1493
Double-Effect Direct-Fired Absorption Chillers......Page 1494
Part-Load Operation and Capacity Control......Page 1496
Room Air-Conditioner Systems......Page 1497
Four-Pipe Fan-Coil Systems......Page 1498
Water-Source Heat Pump Systems......Page 1500
Single-Zone Constant-Volume (CV) Packaged Systems......Page 1501
Variable-Air-Volume Packaged Systems......Page 1502
VAV Reheat Packaged Systems......Page 1503
Single-Zone Constant-Volume Central Systems......Page 1504
VAV Central Systems......Page 1505
Air-Conditioning System Selection......Page 1507
Air Systems......Page 1508
Energy Conservation Recommendations......Page 1509
Sorbents and Desiccants......Page 1510
Dehumidification......Page 1511
Desirable Characteristics for High-Performance Liquid and Solid Desiccant Dehumidifiers......Page 1512
Advantages......Page 1513
Disadvantages......Page 1514
The Desiccant Wheel......Page 1515
Solid Desiccant Air-Conditioning......Page 1516
Conclusions......Page 1517
References......Page 1518
Introduction......Page 1521
Basic Framework of Transportation Planning......Page 1522
Develop and Analyze Alternatives......Page 1523
Transportation Modeling......Page 1524
Defining Terms......Page 1527
References......Page 1528
Identify Project Need......Page 1529
Project Engineering......Page 1530
Vehicle or User Performance Factors......Page 1531
Design Standards......Page 1532
Intermodal Transportation Terminals or Transfer Facilities......Page 1534
Define System......Page 1535
Defining Terms......Page 1537
Fundamental Equations......Page 1538
Flow, Speed, and Density Relationships......Page 1539
Highway Capacity......Page 1540
Traffic Control Devices......Page 1541
Environmental Impacts......Page 1542
Further Information......Page 1543
10.4 Transportation Systems......Page 1544
Evaluation Measures......Page 1545
Air Transportation......Page 1547
Railroad Tranportation......Page 1548
Highway Transportation......Page 1550
Water Transportation......Page 1551
Public Transportation......Page 1552
References......Page 1553
Overview......Page 1554
Advantages and Disadvantages of Alternative Fuels......Page 1555
EV System......Page 1558
Batteries......Page 1559
Fuel Cells......Page 1560
Electric Motors......Page 1561
Electric Motor Drive......Page 1562
Hybrid Electric Vehicles......Page 1563
Fuel Cell EVs......Page 1564
EV Advantages and Disadvantages......Page 1565
References......Page 1566
Origin of ITS......Page 1567
Current Status of ITS......Page 1568
Key Principles Underlying ITS......Page 1571
Promises for the Future......Page 1573
References......Page 1574
11.1 Introduction......Page 1577
Geometry Design......Page 1578
Constructive Solid Geometry (CSG)......Page 1579
Boundary Representation (B-Rep)......Page 1582
Hybrid Systems......Page 1583
Parametric Equation of a Curve......Page 1584
Parametric Equations of Surfaces......Page 1587
Properties of Parametric Surfaces......Page 1589
Element Types......Page 1591
Engineering Analysis Problems......Page 1595
11.4 Structural Design Criteria......Page 1602
Failure of Ductile Materials Under Static Loading......Page 1603
Failure of Brittle Materials Under Static Loading......Page 1606
The Linear Elastic Fracture Mechanics (LEFM) Approach......Page 1607
Fatigue Failure Criteria......Page 1611
Stress-Life Approach......Page 1612
Cumulative Damage......Page 1614
Strain-Life Approach......Page 1615
Critical Plane Methods and Nonproportional Loading......Page 1617
Linear Elastic Fracture Mechanics (LEFM) Approach for Fatigue Crack Growth......Page 1618
Mixed-Mode Loading Conditions......Page 1620
Introduction......Page 1621
Structural Design Parameterization......Page 1625
The Sizing Design Variable......Page 1626
The Shape Design Variable......Page 1631
The Configuration Design Variable......Page 1638
Design Variable Linking across Geometric Entities......Page 1639
Design Sensitivity Analysis......Page 1643
Methods of Structural Design Sensitivity Analysis......Page 1644
The Global Finite Difference Method......Page 1645
The Discrete Method......Page 1646
The Continuum Method......Page 1647
Computational Derivative......Page 1649
Examples......Page 1650
The Linear Programming Method......Page 1656
Unconstrained Optimization Problems......Page 1657
Constrained Optimization Problems......Page 1659
Examples......Page 1661
Genetic Algorithms......Page 1662
Simulated Annealing......Page 1665
References......Page 1666
Introduction - Nature and Properties of Pure Metals......Page 1669
Casting......Page 1672
Strength and Deformation, Fracture Toughness......Page 1673
Solute, Dispersion, and Precipitation Strengthening and Heat Treatment......Page 1675
Strengthening of Steels and Steel Heat Treatment......Page 1678
Fatigue......Page 1682
High-Temperature Effects - Creep and Stress Rupture......Page 1683
Corrosion and Environmental Effects......Page 1685
Introduction......Page 1686
Acrylics (Methylmethacrylate, PMMA)......Page 1687
Acrylonitrile-Butadiene-Styrene (ABS)......Page 1688
Polymethylpentene......Page 1693
Polysulfone......Page 1694
Amino Resins......Page 1695
Epoxies......Page 1696
Thermoplastics......Page 1697
Synthetic Rubbers......Page 1698
Introduction......Page 1699
Performance of Adhesives......Page 1700
Mechanical Properties......Page 1709
Composites......Page 1710
Introduction......Page 1712
Strength......Page 1713
Volume Change and Crack Control......Page 1714
Portland Cements......Page 1716
Supplementary Cementing Materials (Mineral Admixtures)......Page 1719
Proportioning Normal Concrete Mixtures......Page 1720
Mixing, Transporting, and Placing Concrete......Page 1722
Sulfate-Resistant Concrete......Page 1723
Corrosion Protection......Page 1727
Introduction......Page 1728
Introduction......Page 1743
Architecture......Page 1744
Fiber......Page 1746
Polymer Matrix Materials......Page 1747
Processing......Page 1749
Mechanical Properties......Page 1750
Cermets and Cemented Carbides Û Particulate-Reinforced MMCs......Page 1752
Fiber-Reinforced MMCs......Page 1757
Ceramic Matrix Composites......Page 1759
Ceramic Matrix Fiber Composites......Page 1760
Introduction......Page 1762
Fabrication......Page 1763
Selected References and Bibliography......Page 1764
Whitewares......Page 1765
Refractories......Page 1768
Glazes and Enamels......Page 1769
Structural Clay Products......Page 1770
Structural Ceramics......Page 1771
Definition and Introduction......Page 1773
Composition/Properties......Page 1775
Strength of Glass......Page 1777
Chemical Durability......Page 1779
Non-Silica-Oxide Glasses......Page 1780
Amorphous Semiconductors......Page 1781
Selected References and Bibliography......Page 1782
Modern Manufacturing......Page 1783
13.1 Introduction......Page 1784
13.2 Unit Manufacturing and Assembly Processes......Page 1785
Material Removal Processes......Page 1788
Traditional Machining......Page 1790
Grinding......Page 1804
Nontraditional Machining......Page 1809
Phase-Change Processes......Page 1814
Green Sand Casting Processes......Page 1815
Investment Casting......Page 1818
Normalizing Steel......Page 1820
Laser Surface Hardening......Page 1822
Deformation Processes......Page 1823
Die Forging......Page 1824
Press-Brake Forming......Page 1825
References......Page 1828
Polymer Composite Consolidation......Page 1829
Shielded-Metal Arc Welding......Page 1832
Assembly Methods and Systems......Page 1834
Selection of Assembly Systems......Page 1836
Design for Assembly......Page 1837
References......Page 1838
Logistics......Page 1839
Case Study: Manufacturing and Inspection of Precision Recirculating Ballscrews......Page 1840
Overview of Ballscrew Design and Manufacturing Considerations......Page 1841
Initial Machining Operations......Page 1842
Grinding and Finishing Operations......Page 1843
Assembly and Inspection......Page 1844
Classification of Sensors......Page 1845
Use of Sensors in Supervisory and Intelligent Control Systems......Page 1848
CNC Part Programs......Page 1849
Point-to-Point and Contouring Axes of Motion......Page 1850
Motion Control Systems......Page 1852
Error Sources in CNC Systems......Page 1854
Introduction......Page 1855
Factors in Precision Engineering......Page 1856
Instrumentation and Inspection in Precision Engineering......Page 1858
Inspection System and Metrology......Page 1860
Introduction......Page 1861
Product Data Standards and Manufacturing......Page 1862
References......Page 1863
Manual Process Planning......Page 1864
Tolerance Charting......Page 1865
Computer-Aided Process Planning......Page 1866
References......Page 1868
Types of Simulation Models......Page 1869
Modeling Languages......Page 1870
References......Page 1872
Neural Networks......Page 1873
Expert Systems......Page 1874
References......Page 1876
Introduction......Page 1877
Decision Factors for Facilities Planning......Page 1878
References......Page 1880
Manufacturing Processes in Parts Production......Page 1881
Rapid Prototyping by Laser Stereolithography......Page 1882
Other Rapid-Prototyping Methods......Page 1885
Application of Rapid Prototyping......Page 1889
General Rapid Prototyping in Production......Page 1890
Requirements Flow......Page 1891
Parts Flow......Page 1892
Fundamental and Bottom-Line Metrics......Page 1893
EDI in Manufacturing......Page 1894
EDI Implementation......Page 1895
Introduction......Page 1896
IC Fabrication......Page 1900
Chip Carriers......Page 1907
Attaching the Package to the Printed Wiring Board......Page 1911
PWBs to Enclosure......Page 1915
Process Variation......Page 1917
Physical Models......Page 1920
Empirical Models......Page 1921
Process Optimization......Page 1924
Run-by-Run and Real-Time Process Control......Page 1926
References......Page 1933
Robotics......Page 1936
14.1 Introduction......Page 1937
Manipulator Performance Characteristics......Page 1938
Common Kinematic Configurations......Page 1939
Drive Types of Commerical Robots......Page 1945
Motion/Process Integration......Page 1948
Fundamentals and Design Issues......Page 1949
Forward (Direct) Kinematics......Page 1950
Inverse Kinematics......Page 1951
Example 14.3.3......Page 1952
Velocity Kinematics: The Manipulator Jacobian......Page 1953
Singularities......Page 1954
Redundant Manipulator Kinematics......Page 1955
Summary......Page 1956
A Taxonomy of Common End Effectors......Page 1957
Passive End Effectors......Page 1958
Active End Effectors and Hands......Page 1960
Actuation......Page 1962
Versatility......Page 1963
Summary......Page 1964
Tactile and Proximity Sensors......Page 1965
Resistive and Conductive Transduction......Page 1966
Magnetoelastic Transduction......Page 1967
Thermal Tactile Sensors......Page 1968
Other Force Sensors......Page 1969
Vision......Page 1970
Flexible Integrated Vision System......Page 1971
Illumination Considerations......Page 1973
Vision Algorithms for Robotic Applications......Page 1974
Actuators......Page 1975
Shape Memory Alloy (SMA) Wire......Page 1976
Spherical DC Servo Motor......Page 1977
Multi-DOF Microactuators......Page 1978
Example 4.6.1 DC Brushless Motor Control Software Code [Frey, 2002]......Page 1979
Computer Bus Systems......Page 1980
Software Tools......Page 1981
Example 14.6.2 MatLab Code for AUV [Frey, 2002]......Page 1982
Current Software Trends......Page 1984
Robot Dynamics and Properties......Page 1985
State Variable Representations and Computer Simulation......Page 1986
Actuator Dynamics......Page 1987
Computed-Torque (CT) Control and Feedback Linearization......Page 1988
Example 14.7.1 (Performance of PD and PID Computed-Torque Controllers)......Page 1989
Example 14.7.2 (Performance of PD-Gravity and Classical Joint Controllers)......Page 1991
Example 14.7.3 (Performance of Digital CT Controllers)......Page 1992
Adaptive Controller......Page 1995
Robust Saturation Controller......Page 1996
Example 14.7.4 (Performance of Adaptive and Robust Robot Controllers)......Page 1997
Control of Flexible-Link and Flexible-Joint Robots......Page 1998
Flexible-Joint Robots......Page 1999
Teleoperation......Page 2000
14.8 Planning and Intelligent Control......Page 2002
Road Map Approach Based on Visibility Graph......Page 2003
Cell Decomposition Approach......Page 2004
Potential Field Approach......Page 2005
Error Detection and Recovery......Page 2007
Workcell Control......Page 2008
14.9 Design of Robotic Systems......Page 2009
Design Considerations......Page 2010
Workcell Layout......Page 2011
Mechanical Feeders......Page 2013
Vision-Based Flexible Part-Feeding......Page 2015
Economic Analysis......Page 2016
Cost Justification for Robots......Page 2017
Part Feeding and Presentation......Page 2018
14.11 Industrial Material Handling and Process Applications of Robots......Page 2019
Integration of Manipulation Control and Process Control......Page 2020
Packaging......Page 2021
Part Dipping......Page 2022
Drilling......Page 2023
Paint and Compound Spraying......Page 2025
Compound Dispensing......Page 2026
Cutting......Page 2027
Arc Welding......Page 2028
Finish Machining......Page 2029
Classifications of Mobile Robots......Page 2030
Sensors and Measurements......Page 2031
Navigation......Page 2032
Modeling of Flexible-Link Robots......Page 2033
Control of Flexible-Link Robots......Page 2034
The Stewart Platform......Page 2035
Advantages and Problems of the Stewart Platform......Page 2036
Manufacturing Applications of the Stewart Platform......Page 2037
Defining Terms......Page 2038
References......Page 2041
Further Information......Page 2043
15.1 Introduction......Page 2045
15.2 MEMS Technology and Its Applications......Page 2046
References......Page 2048
Top-Down Manufacturing Methods......Page 2050
Bottom-Up Manufacturing......Page 2073
References......Page 2076
Introduction......Page 2080
Fundamental Packaging Concepts......Page 2082
MEMS Packaging and Thermal Stress......Page 2084
Boundary Value Problem and Analytical Methods......Page 2090
Numerical Analysis of Die-attach Thermal Stresses and Strains......Page 2099
Low-Stress Die-Attach......Page 2104
Example of a MEMS Package......Page 2106
Acknowledgments......Page 2109
References......Page 2110
Reliability as It Relates to......Page 2112
Failure......Page 2114
Mathematics of Reliability......Page 2116
Accelerated Stress Testing......Page 2120
Conclusions......Page 2125
Further Information......Page 2126
Introduction......Page 2127
Fluid Modeling......Page 2128
The Continuum Model......Page 2132
Compressibility......Page 2134
Boundary Conditions......Page 2137
Molecular-Based Models......Page 2143
Liquid Flows......Page 2149
Surface Phenomena......Page 2155
Parting Remarks......Page 2159
References......Page 2160
Characteristics of Surface Micromachined Devices......Page 2164
Microsystems Design Considerations......Page 2165
Application......Page 2170
Further Information......Page 2172
Environmental Engineering and the Role of Mechanical Engineers......Page 2173
Environmental Burdens and Impacts......Page 2174
Natural Environment......Page 2175
Soils and Water Basin Definitions......Page 2179
Acceptable Levels of Pollutants......Page 2181
Sources......Page 2185
Pollutant Monitoring......Page 2189
Water......Page 2191
16.5 Mitigation of Water and Air Pollution......Page 2193
Overview......Page 2194
Air Pollution Control......Page 2196
Water Pollution Control......Page 2199
Air Pollution Dispersion Modeling......Page 2201
Atmospheric Chemistry......Page 2203
Groundwater Pollution Modeling......Page 2206
Impact Pathway Methodology......Page 2210
Defining Terms......Page 2221
References......Page 2222
Further Information......Page 2224
16.7 Global Climate Change......Page 2225
References......Page 2229
17.1 Engineering Economic Decisions......Page 2230
The Elements of Transactions Involving Interest......Page 2231
Equivalence Calculations......Page 2233
Interest Formulas......Page 2234
Nominal and Effective Interest Rates......Page 2240
Loss of Purchasing Power......Page 2242
Describing Project Cash Flows......Page 2244
Present Worth Analysis......Page 2246
Annual Equivalent Method......Page 2248
Rate of Return Analysis......Page 2249
Accept/Reject Decision Rules......Page 2250
Mutually Exclusive Alternatives......Page 2251
17.4 Cash Flow Projections......Page 2255
Accounting Depreciation......Page 2256
Tax Treatment of Gains or Losses for Depreciable Assets......Page 2257
After-Tax Cash Flow Analysis......Page 2258
Effects of Inflation on Project Cash Flows......Page 2262
17.5 Sensitivity and Risk Analysis......Page 2263
Sensitivity Analysis......Page 2264
Scenario Analysis......Page 2268
Procedure for Developing an NPW Distribution......Page 2269
Expected Value and Variance......Page 2271
Decision Rule......Page 2272
Minimum-Cost Function......Page 2273
Project Planning......Page 2278
Project Scheduling......Page 2280
Staffing and Organizing......Page 2283
Project Control......Page 2285
Estimating and Contracting......Page 2286
Defining Terms......Page 2288
References......Page 2289
Nanotechnology......Page 2290
18.2 Applications of Engineering Biomimetics in Nanomachines Prototyping......Page 2291
18.3 Nanomachines Synthesis and Classification......Page 2293
18.4 Synthesis, Design and Analysis of Nanomachines......Page 2295
Prototyping and Synthesis of Synchronous Reluctance Nanomachines......Page 2296
Modeling, Analysis, and Design of Synchronous Reluctance Nanomachines......Page 2297
Prototyping and Synthesis of Permanent-Magnet Synchronous Nanomachines......Page 2299
Modeling of Permanent-Magnet Synchronous Nanomachines......Page 2300
Optimization of Permanent-Magnet Synchronous Nanomachines......Page 2302
Modeling of Induction Nanomachines......Page 2303
Simulation of Induction Nanomachines......Page 2305
18.8 Conclusions......Page 2306
References......Page 2307
Mathematics......Page 2308
International System of Units (SI)......Page 2309
Conversion Constants and Multipliers......Page 2312
Constants Involving......Page 2314
Symbols and Terminology for Physical and Chemical Quantities......Page 2315
Fundamental Properties (Real Numbers)......Page 2318
1)......Page 2319
Progression......Page 2320
Complex Numbers......Page 2321
Algebraic Equations......Page 2322
Additional Relations with Derivatives......Page 2325
Elementary Forms (Add an arbitrary constant to each integral)......Page 2327
+......Page 2328
The Fourier Transforms......Page 2329
Fourier Transforms......Page 2330
Finite Sine Transforms......Page 2332
Fourier Sine Transforms......Page 2333
Fourier Cosine Transforms......Page 2334
Fourier Transforms......Page 2335
(Figure 19.1.14)......Page 2336
(Figure 19.1.15)......Page 2337
Table of Differential Equations......Page 2339
Algebra of Matrices......Page 2340
Systems of Equations......Page 2341
Orthogonality and Length......Page 2343
Determinants......Page 2344
References......Page 2345
Coordinate Systems......Page 2346
Vector Functions......Page 2347
Gradient, Curl, and Divergence......Page 2348
Integration......Page 2349
First-Order Equations......Page 2350
Generating Function (z Transform)......Page 2351
References......Page 2352
Ordinary Differential Equations......Page 2353
Partial Differential Equations......Page 2357
Classification and Notation......Page 2363
Methods of Solution......Page 2364
Perturbation......Page 2365
Laplace Transform......Page 2367
Fourier Cosine Transform......Page 2370
Further Information......Page 2371
The Variation......Page 2372
Constraints......Page 2373
Linear Programming......Page 2374
Constrained Nonlinear Programming......Page 2375
References......Page 2376
Elementary Probability......Page 2377
Random Sample and Sampling Distributions......Page 2379
Normal Distribution-Related Sampling Distributions......Page 2380
Confidence Intervals......Page 2382
Testing Statistical Hypotheses......Page 2384
A Numerical Example......Page 2385
References......Page 2387
Linear Algebra Equations......Page 2388
Nonlinear Equations in One Variable......Page 2393
General Methods for Nonlinear Equations in One Variable......Page 2395
Numerical Solution of Simultaneous Nonlinear Equations......Page 2396
Interpolation and Finite Differences......Page 2400
Numerical Differentiation......Page 2403
Numerical Integration......Page 2406
Numerical Solution of Ordinary Differential Equations......Page 2407
Numerical Methods for Partial Differential Equations......Page 2411
Discrete and Fast Fourier Transforms......Page 2416
Software......Page 2418
References......Page 2419
Introduction......Page 2420
Uncertainty of a Measured Variable......Page 2421
Uncertainty of a Result......Page 2424
Using Uncertainty Analysis in Experimentation......Page 2426
Introduction......Page 2427
Flows, Attractors, and Liapunov Exponents......Page 2428
Synchronous Motor......Page 2431
References......Page 2435
Fundamental Notions......Page 2436
Further Information......Page 2445
Patent Law and Miscellaneous Topics......Page 2447
Patents***......Page 2448
Trade Secrets*......Page 2453
Copyrights*......Page 2454
Trademarks*......Page 2455
Final Observations......Page 2456
Legal Concepts......Page 2457
Engineering Analysis......Page 2458
Human Error......Page 2459
Liability Prevention......Page 2460
20.3 Biomechanics......Page 2462
Material Properties of Human Tissues......Page 2463
Impact Biomechanics......Page 2469
Computational Biomechanics......Page 2470
References......Page 2471
What Are Codes and Standards?......Page 2474
Codes and Standards - Related Accreditation, Certification, and Registration Programs......Page 2475
How Do I Get Codes and Standards?......Page 2476
What Standards Are Available?......Page 2477
Geometrical Optics......Page 2479
Nonimaging Optics......Page 2490
Lasers......Page 2493
Introduction and Overview......Page 2498
Distillation Processes......Page 2499
Membrane Separation Processes......Page 2508
References......Page 2513
Further Information......Page 2514
Human Hearing......Page 2515
Noise Measures......Page 2517
Response of People to Noise and Noise Criteria and Regulations......Page 2518
Noise Control Approaches......Page 2519
20.8 Lighting Technology......Page 2522
Lamps......Page 2524
Ballasts......Page 2529
Lighting Fixtures......Page 2530
References......Page 2531
Further Information......Page 2532
Appendices......Page 2533
Symbols and Units:......Page 2534
Symbols and Units:......Page 2536
Symbols and Units:......Page 2542
Symbols and Units:......Page 2543
Symbols and Units:......Page 2547
Symbols and Units:......Page 2548
Symbols and Units:......Page 2549
Symbols and Units:......Page 2567
Appendix C. Properties of Solids......Page 2570
Appendix D. Gases and Vapors......Page 2606
Appendix E. Miscellaneous......Page 2607