Systems Engineering Principles for Software Engineers

foundations of duct acoustics to the acoustic design of duct systems, through practical modeling, optimization and measurement techniques. Discover in-depth analyses of one- and three-dimensional models of sound generation, propagation and radiation, as techniques for assembling acoustic models of duct systems from simpler components are described. Identify the weaknesses of mathematical models in use and improve them by measurement when needed. Cope with challenges in acoustic design, and improve understanding of the underlying physics, by using the tools described. An essential reference for engineers and researchers who work on the acoustics of fluid machinery ductworks.

An increase in the use of composite materials in areas of engineering has led to a greater demand for engineers versed in the design of structures made from such materials. This book offers students and engineers tools for designing practical composite structures. Among the topics of interest to the designer are stress-strain relationships for a wide range of anisotropic materials; bending, buckling, and vibration of plates; bending, torsion, buckling, and vibration of solid as well as thin walled beams; shells; hygrothermal stresses and strains; finite element formulation; and failure criteria. More than 300 illustrations, 50 fully worked problems, and material properties data sets are included. Some knowledge of composites, differential equations, and matrix algebra is helpful but not necessary, as the book is self-contained. Graduate students, researchers, and practitioners will value it for both theory and application.

An increase in the use of composite materials in areas of engineering has led to a greater demand for engineers versed in the design of structures made from such materials. This book offers students and engineers tools for designing practical composite structures. Among the topics of interest to the designer are stress-strain relationships for a wide range of anisotropic materials; bending, buckling, and vibration of plates; bending, torsion, buckling, and vibration of solid as well as thin walled beams; shells; hygrothermal stresses and strains; finite element formulation; and failure criteria. More than 300 illustrations, 50 fully worked problems, and material properties data sets are included. Some knowledge of composites, differential equations, and matrix algebra is helpful but not necessary, as the book is self-contained. Graduate students, researchers, and practitioners will value it for both theory and application.

Provides an innovative hands-on introduction to techniques for specifying the behaviour of software components. It is primarily intended for use as a text book for a course in the 2nd or 3rd year of Computer Science and Computer Engineering programs, but it is also suitable for self-study. Using this book will help the reader improve programming skills and gain a sound foundation and motivation for subsequent courses in advanced algorithms and data structures, software design, formal methods, compilers, programming languages, and theory. The presentation is based on numerous examples and case studies appropriate to the level of programming expertise of the intended readership. The main topics covered are techniques for using programmer-friendly assertional notations to specify, develop, and verify small but non-trivial algorithms and data representations, and the use of state diagrams, grammars, and regular expressions to specify and develop recognizers for formal languages.

Provides an innovative hands-on introduction to techniques for specifying the behaviour of software components. It is primarily intended for use as a text book for a course in the 2nd or 3rd year of Computer Science and Computer Engineering programs, but it is also suitable for self-study. Using this book will help the reader improve programming skills and gain a sound foundation and motivation for subsequent courses in advanced algorithms and data structures, software design, formal methods, compilers, programming languages, and theory. The presentation is based on numerous examples and case studies appropriate to the level of programming expertise of the intended readership. The main topics covered are techniques for using programmer-friendly assertional notations to specify, develop, and verify small but non-trivial algorithms and data representations, and the use of state diagrams, grammars, and regular expressions to specify and develop recognizers for formal languages.

This book provides a comprehensive overview of the fundamental principles and applications of semiconductor diode laser arrays. All of the major types of arrays are discussed in detail, including coherent, incoherent, edge- and surface-emitting, horizontal- and vertical-cavity, individually addressed, lattice-matched and strained-layer systems. The initial chapters cover such topics as lasers, amplifiers, external-cavity control, theoretical modelling, and operational dynamics. Spatially incoherent arrays are then described in detail, and the uses of vertical-cavity surface emitter and edge-emitting arrays in parallel optical-signal processing and multi-channel optical recording are discussed. Engineers, established researchers and graduate students studying the properties and applications of such arrays will find this book invaluable.

Discover scalable, dependable, and intelligent solutions to the challenges of integrating complex networked microgrids with this definitive guide to the development of cutting-edge power and data systems. Includes advanced fault management control and optimization to enable enhanced microgrid penetration without compromising reliability. Features SDN-based architectures and techniques to enable secure, reliable and fault-tolerant algorithms for resilient networked systems. Provides reachability techniques to facilitate a deeper understanding of microgrid resilience in areas with high penetration of renewables. Combining resilient control, fast programmable networking, reachability analysis, and cyber-physical security, this is essential reading for researchers, professional engineers, and graduate students interested in creating the next generation of data-intensive self-configurable networked microgrid systems, smart communities, and smart infrastructure.

This classic book is a encylopaedic and comprehensive account of the classical theory of analytical dynamics. The treatment is rigorous yet readable, starting from first principles with kinematics before moving to equations of motion and specific and explicit methods for solving them, with chapters devoted to particle dyanmics, rigid bodies, vibration, and dissipative systems. Hamilton's principle is introduced and then applied to dynamical systems, including three-body systems and celestial mechanics. Very many examples and exercisies are supplied throughout.

This fundamental monograph introduces both the probabilistic and algebraic aspects of information theory and coding. It has evolved from the authors' years of experience teaching at the undergraduate level, including several Cambridge Maths Tripos courses. The book provides relevant background material, a wide range of worked examples and clear solutions to problems from real exam papers. It is a valuable teaching aid for undergraduate and graduate students, or for researchers and engineers who want to grasp the basic principles.

The smart grid will transform the way power is delivered, consumed and accounted for. Adding intelligence through the newly networked grid will increase reliability and power quality, improve responsiveness, increase efficiency and provide a platform for new applications. This one-stop reference covers the state-of-the-art theory, key strategies, protocols, applications, deployment aspects and experimental studies of communication and networking technologies for the smart grid. Through the book's twenty chapters, a team of expert authors cover topics ranging from architectures and models through to integration of plug-in hybrid vehicles and security. Essential information is provided for researchers to make progress in the field and to allow power systems engineers to optimize communication systems for the smart grid.

With full color throughout, this unique text provides an accessible yet rigorous introduction to the basic principles, technology, and applications of nanophotonics. It explains key physical concepts such as quantum confinement in semiconductors, light confinement in metal and dielectric nanostructures, and wave coupling in nanostructures, and describes how they can be applied in lighting sources, lasers, photonic circuitry, and photovoltaic systems. Readers will gain an intuitive insight into the commercial implementation of nanophotonic components, in both current and potential future devices, as well as challenges facing the field. The fundamentals of semiconductor optics, optical material properties, and light propagation are included, and new and emerging fields such as colloidal photonics, Si-based photonics, nanoplasmonics, and bioinspired photonics are all discussed. This is the 'go-to' guide for graduate students and researchers in electrical engineering who are interested in

Presenting the fundamentals of cooperative communications and networking, this book treats the concepts of space, time, frequency diversity and MIMO, with a holistic approach to principal topics where significant improvements can be obtained. Beginning with background and MIMO systems, Part I includes a review of basic principles of wireless communications and space-time diversity and coding. Part II then presents topics on physical layer cooperative communications such as relay channels and protocols, performance bounds, multi-node cooperation, and energy efficiency. Finally, Part III focuses on cooperative networking including cooperative and content-aware multiple access, distributed routing, source-channel coding, and cooperative OFDM. Including end-of-chapter review questions, this text will appeal to graduate students of electrical engineering and is an ideal textbook for advanced courses on wireless communications. It will also be of great interest to practitioners in the wirele

Elastomers and rubberlike materials form a critical component in diverse applications that range from tyres to biomimetics and are used in chemical, biomedical, mechanical and electrical engineering. This updated and expanded edition provides an elementary introduction to the physical and molecular concepts governing elastic behaviour, with a particular focus on elastomers. The coverage of fundamental principles has been greatly extended and fully revised, with analogies to more familiar systems such as gases, producing an engaging approach to these phenomena. Dedicated chapters on novel uses of elastomers, covering bioelastomers, filled elastomers and liquid crystalline elastomers, illustrate the established and emerging applications at the forefront of physical science. With a list of experiments and demonstrations, problem sets and solutions, this is a self-contained introduction to the topic for graduate students, researchers and industrialists working in the applied fields of phys

This comprehensive book provides an overview of the key techniques used in the fabrication of micron-scale structures in silicon. Recent advances in these techniques have made it possible to create a new generation of microsystem devices, such as microsensors, accelerometers, micropumps, and miniature robots. The authors underpin the discussion of each technique with a brief review of the fundamental physical and chemical principles involved. They pay particular attention to methods such as isotropic and anisotropic wet chemical etching, wafer bonding, reactive ion etching, and surface micromachining. There is a special section on bulk micromachining, and the authors also discuss release mechanisms for movable microstructures. The book is a blend of detailed experimental and theoretical material, and will be of great interest to graduate students and researchers in electrical engineering and materials science whose work involves the study of micro-electromechanical systems (MEMS).

This pioneering volume lays out a set of methodological principles to guide the description of interpersonal grammar in different languages. It compares interpersonal systems and structures across a range of world languages, showing how discourse, interpersonal relationships between the speakers, and the purpose of their communication, all play a role in shaping the grammatical structures used in interaction. Following an introduction setting out these principles, each chapter focuses on a particular language - Khorchin Mongolian, Mandarin, Tagalog, Pitjantjatjara, Spanish, Brazilian Portuguese, British Sign Language and Scottish Gaelic – and explores mood, polarity, tagging, vocation, assessment and comment systems. The book provides a model for functional grammatical description that can be used to inform work on system and structure across languages as a foundation for functional language typology.

The advent of the CRISPR/Cas9 class of genome editing tools is transforming not just science and medicine, but also law. When the genome of germline cells is modified, the modifications could be inherited, with far-reaching effects in time and scale. Legal systems are struggling with keeping up with the CRISPR revolution and both lawyers and scientists are often confused about existing regulations. This book contains an analysis of the national regulatory framework in eighteen selected countries. Written by national legal experts, it includes all major players in bioengineering, plus an analysis of the emerging international standards and a discussion of how international human rights standards should inform national and international regulatory frameworks. The authors propose a set of principles for the regulation of germline engineering, based on international human rights law, that can be the foundation for regulating heritable gene editing both at the level of countries as well as

The advent of the CRISPR/Cas9 class of genome editing tools is transforming not just science and medicine, but also law. When the genome of germline cells is modified, the modifications could be inherited, with far-reaching effects in time and scale. Legal systems are struggling with keeping up with the CRISPR revolution and both lawyers and scientists are often confused about existing regulations. This book contains an analysis of the national regulatory framework in eighteen selected countries. Written by national legal experts, it includes all major players in bioengineering, plus an analysis of the emerging international standards and a discussion of how international human rights standards should inform national and international regulatory frameworks. The authors propose a set of principles for the regulation of germline engineering, based on international human rights law, that can be the foundation for regulating heritable gene editing both at the level of countries as well as

The objective of this introductory text is to familiarise students with the basic elements of fluid mechanics so that they will be familiar with the jargon of the discipline and the expected results. At the same time, this book serves as a long-term reference text, contrary to the oversimplified approach occasionally used for such introductory courses. The second objective is to provide a comprehensive foundation for more advanced courses in fluid mechanics (within disciplines such as mechanical or aerospace engineering). In order to avoid confusing the students, the governing equations are introduced early, and the assumptions leading to the various models are clearly presented. This provides a logical hierarchy and explains the interconnectivity between the various models. Supporting examples demonstrate the principles and provide engineering analysis tools for many engineering calculations.

The objective of this introductory text is to familiarise students with the basic elements of fluid mechanics so that they will be familiar with the jargon of the discipline and the expected results. At the same time, this book serves as a long-term reference text, contrary to the oversimplified approach occasionally used for such introductory courses. The second objective is to provide a comprehensive foundation for more advanced courses in fluid mechanics (within disciplines such as mechanical or aerospace engineering). In order to avoid confusing the students, the governing equations are introduced early, and the assumptions leading to the various models are clearly presented. This provides a logical hierarchy and explains the interconnectivity between the various models. Supporting examples demonstrate the principles and provide engineering analysis tools for many engineering calculations.

This volume provides a concise, historical review of the methods of structural analysis and design - from Galileo in the seventeenth century, to the present day. Through it, students in structural engineering and professional engineers will gain a deeper understanding of the theory behind the modern software packages they use daily in structural design. This book also offers the reader a lucid examination of the process of structural analysis and how it relates to modern design. The first three chapters cover questions about the strength of materials, and how to calculate local effects. An account is then given of the development of the equations of elastic flexure and buckling, followed by a separate chapter on masonry arches. Three chapters on the overall behaviour of elastic structures lead to a discussion of plastic behaviour, and a final chapter indicates that there are still problems needing solution.

This volume provides a concise, historical review of the methods of structural analysis and design - from Galileo in the seventeenth century, to the present day. Through it, students in structural engineering and professional engineers will gain a deeper understanding of the theory behind the modern software packages they use daily in structural design. This book also offers the reader a lucid examination of the process of structural analysis and how it relates to modern design. The first three chapters cover questions about the strength of materials, and how to calculate local effects. An account is then given of the development of the equations of elastic flexure and buckling, followed by a separate chapter on masonry arches. Three chapters on the overall behaviour of elastic structures lead to a discussion of plastic behaviour, and a final chapter indicates that there are still problems needing solution.

This 1992 book provides a thorough and systematic description of particle field holography. The use of holography to study very small objects in a dynamic volume is a technique of importance for scientists and engineers across a variety of disciplines for obtaining information about the size, shape and velocity of small objects such as dust particles, fuel droplets, raindrops, pollen, bubbles etc. Professor Vikram has made major contributions to the field, and here provides a coherent, comprehensive and self-contained treatment of the theory, practise and applications. The volume is written to satisfy the needs of researchers in the technique, practising engineers dealing with applications, and advanced students in science or engineering departments. All the necessary mathematical formulations, figures and photographs, experimental procedures and results, and literature citations are therefore included.

This 1992 book provides a thorough and systematic description of particle field holography. The use of holography to study very small objects in a dynamic volume is a technique of importance for scientists and engineers across a variety of disciplines for obtaining information about the size, shape and velocity of small objects such as dust particles, fuel droplets, raindrops, pollen, bubbles etc. Professor Vikram has made major contributions to the field, and here provides a coherent, comprehensive and self-contained treatment of the theory, practise and applications. The volume is written to satisfy the needs of researchers in the technique, practising engineers dealing with applications, and advanced students in science or engineering departments. All the necessary mathematical formulations, figures and photographs, experimental procedures and results, and literature citations are therefore included.

A comprehensive account of the physical foundations of collision and impact phenomena and their applications in a multitude of engineering disciplines. In-depth explanations are included to reveal the unifying features of collision phenomena in both liquids and solids, and to apply them to disciplines including theoretical and applied mechanics, physics and applied mathematics, materials science, aerospace, mechanical and chemical engineering, and terminal ballistics. Covering a range of examples from drops, jets, and sprays, to seaplanes and ballistic projectiles, and detailing a variety of theoretical, numerical, and experimental tools that can be used in developing new models and approaches, this is an ideal resource for students, researchers, and practicing engineers alike.

Software is pervasive in our lives. We are accustomed to dealing with the failures of much of that software - restarting an application is a very familiar solution. Such solutions are unacceptable when the software controls our cars, airplanes and medical devices or manages our private information. These applications must run without error. SPARK provides a means, based on mathematical proof, to guarantee that a program has no errors. SPARK is a formally defined programming language and a set of verification tools specifically designed to support the development of software used in high integrity applications. Using SPARK, developers can formally verify properties of their code such as information flow, freedom from runtime errors, functional correctness, security properties and safety properties. Written by two SPARK experts, this is the first introduction to the just-released 2014 version. It will help students and developers alike master the basic concepts for building systems with

Software is pervasive in our lives. We are accustomed to dealing with the failures of much of that software - restarting an application is a very familiar solution. Such solutions are unacceptable when the software controls our cars, airplanes and medical devices or manages our private information. These applications must run without error. SPARK provides a means, based on mathematical proof, to guarantee that a program has no errors. SPARK is a formally defined programming language and a set of verification tools specifically designed to support the development of software used in high integrity applications. Using SPARK, developers can formally verify properties of their code such as information flow, freedom from runtime errors, functional correctness, security properties and safety properties. Written by two SPARK experts, this is the first introduction to the just-released 2014 version. It will help students and developers alike master the basic concepts for building systems with

Data Communication and Networking, First Edition provides a solid, thorough overview of data communications and networking for Engineering Technology programs. This text covers information for one or more courses spanning digital communication systems, computer communication and networks, and data communications. It is specifically written and designed for engineering and engineering technology learners by using a systematic and visual approach with abundant tables, illustrations, and practical examples making it easy for students to comprehend concepts. Content begins with data communication, signal conversion and issues in data transmission. Each chapter includes an introduction, summary of key information, as well as practice questions and problems with answers. The text also includes coverage of network and network standards, Ethernet, network components and Transmission Control and Internets Protocols (TCP/IP). The integration of applications and laboratory experiments are found t

Master simple to advanced biomaterials and structures with this essential text. Featuring topics ranging from bionanoengineered materials to bio-inspired structures for spacecraft and bio-inspired robots, and covering issues such as motility, sensing, control and morphology, this highly illustrated text walks the reader through key scientific and practical engineering principles, discussing properties, applications and design. Presenting case studies for the design of materials and structures at the nano, micro, meso and macro-scales, and written by some of the leading experts on the subject, this is the ideal introduction to this emerging field for students in engineering and science as well as researchers.

This textbook integrates classic principles of flow through porous media with recently developed stochastic analyses to provide new insight on subsurface hydrology. Importantly, each of the authors has extensive experience in both academia and the world of applied groundwater hydrology. The book not only presents theories but also emphasizes their underlying assumptions, limitations, and the potential pitfalls that may occur as a result of blind application of the theories as 'cookie-cutter' solutions. The book has been developed for advanced-level courses on groundwater fluid flow, hydraulics, and hydrogeology, in either civil and environmental engineering or geoscience departments. It is also a valuable reference text for researchers and professionals in civil and environmental engineering, geology, soil science, environmental science, and petroleum and mining engineering.

Small solid particles adsorbed at liquid interfaces arise in many industrial products and process, such as anti-foam formulations, crude oil emulsions and flotation. They act in many ways like traditional surfactant molecules, but offer distinct advantages. However, the understanding of how these particles operate in such systems is minimal. This book brings together the diverse topics actively being investigated, with contributions from leading experts in the field. After an introduction to the basic concepts and principles, the book divides into two sections. The first deals with particles at planar liquid interfaces, with chapters of an experimental and theoretical nature. The second concentrates on the behaviour of particles at curved liquid interfaces, including particle-stabilized foams and emulsions and new materials derived from such systems. This collection will be of interest to academic researchers and graduate students in chemistry, physics, chemical engineering, pharmacy,

Small solid particles adsorbed at liquid interfaces arise in many industrial products and process, such as anti-foam formulations, crude oil emulsions and flotation. They act in many ways like traditional surfactant molecules, but offer distinct advantages. However, the understanding of how these particles operate in such systems is minimal. This book brings together the diverse topics actively being investigated, with contributions from leading experts in the field. After an introduction to the basic concepts and principles, the book divides into two sections. The first deals with particles at planar liquid interfaces, with chapters of an experimental and theoretical nature. The second concentrates on the behaviour of particles at curved liquid interfaces, including particle-stabilized foams and emulsions and new materials derived from such systems. This collection will be of interest to academic researchers and graduate students in chemistry, physics, chemical engineering, pharmacy,

The idea of interfacing minds with machines has long captured the human imagination. Recent advances in neuroscience and engineering are making this a reality, opening the door to restoration and augmentation of human physical and mental capabilities. Medical applications such as cochlear implants for the deaf and neurally controlled prosthetic limbs for the paralyzed are becoming almost commonplace. Brain-computer interfaces (BCIs) are also increasingly being used in security, lie detection, alertness monitoring, telepresence, gaming, education, art, and human augmentation. This introduction to the field is designed as a textbook for upper-level undergraduate and first-year graduate courses in neural engineering or brain-computer interfacing for students from a wide range of disciplines. It can also be used for self-study and as a reference by neuroscientists, computer scientists, engineers, and medical practitioners. Key features include questions and exercises in each chapter and a

This book is a cross-cultural reference volume of all attested numerical notation systems (graphic, non-phonetic systems for representing numbers), encompassing more than 100 such systems used over the past 5,500 years. Using a typology that defies progressive, unilinear evolutionary models of change, Stephen Chrisomalis identifies five basic types of numerical notation systems, using a cultural phylogenetic framework to show relationships between systems and to create a general theory of change in numerical systems. Numerical notation systems are primarily representational systems, not computational technologies. Cognitive factors that help explain how numerical systems change relate to general principles, such as conciseness or avoidance of ambiguity, which apply also to writing systems. The transformation and replacement of numerical notation systems relates to specific social, economic, and technological changes, such as the development of the printing press or the expansion of the

Observations of ocean circulation have increased as a result of international field programmes and of remote sensing systems on artificial earth satellites. Oceanographers are increasingly turning to inverse methods for combining these observations with numerical models of ocean circulation. Professor Bennett's work explores the potential for inverse theory, emphasizing possibilities rather than expedient or rudimentary applications. In addition to interpolating the data and adding realism to the model solutions, the methods can yield estimates for unobserved flow variables, forcing fields, and model parameters. Inverse formulations can resolve ill-posed modelling problems, lead to design criteria for oceanic observing systems, and enable the testing of models as scientific hypothesis. Exercises of varying difficulty rehearse technical skills and supplement the central theoretical development. Thus this book will be invaluable for environmental scientists and engineers, advanced underg

Observations of ocean circulation have increased as a result of international field programmes and of remote sensing systems on artificial earth satellites. Oceanographers are increasingly turning to inverse methods for combining these observations with numerical models of ocean circulation. Professor Bennett's work explores the potential for inverse theory, emphasizing possibilities rather than expedient or rudimentary applications. In addition to interpolating the data and adding realism to the model solutions, the methods can yield estimates for unobserved flow variables, forcing fields, and model parameters. Inverse formulations can resolve ill-posed modelling problems, lead to design criteria for oceanic observing systems, and enable the testing of models as scientific hypothesis. Exercises of varying difficulty rehearse technical skills and supplement the central theoretical development. Thus this book will be invaluable for environmental scientists and engineers, advanced underg

Architectural Acoustics presents a complete technical overview of the field, from basic concepts to specific design advice. Beginning with a brief history of the field, it reviews the fundamentals of acoustics, human perception and reaction to sound, acoustic noise measurements and noise metrics, and environmental noise. In-depth treatment is given to the theoretical principles and practical applications of wave acoustics, sound transmission, vibration and vibration isolation, and noise transmission in floor systems and mechanical systems.Chapters on specific design problems demonstrate how to apply the theory, including treatment of multifamily dwellings, office buildings, rooms for speech, sound reinforcement systems, rooms for music, multipurpose rooms, auditoriums, sanctuaries, studios and listening rooms. Detailed figures throughout illustrate the practical applications of acoustic principles, showing how to implement design ideas in actual structures.This compendium of theoretica

This book explores the many engineering and architectural aspects of submarine design and how they relate to each other and the operational performance required of the vessel. Concepts of hydrodynamics, structure, powering and dynamics are explained, in addition to architectural considerations which bear on the submarine design process. The interplay between these aspects of design is given particular attention, and a final chapter is devoted to the generation of the concept design for the submarine as a whole. Submarine design makes extensive use of computer aids, and examples of algorithms used in concept design are given. The emphasis in the book is on providing engineering insight as well as an understanding of the intricacies of the submarine design process. It will serve as a text for students and as a reference manual for practising engineers and designers.

Taking a different approach from standard thousand-page reference-style control textbooks, Fundamentals of Linear Control provides a concise yet comprehensive introduction to the analysis and design of feedback control systems in fewer than 400 pages. The text focuses on classical methods for dynamic linear systems in the frequency domain. The treatment is, however, modern and the reader is kept aware of contemporary tools and techniques, such as state space methods and robust and nonlinear control. Featuring fully worked design examples, richly illustrated chapters, and an extensive set of homework problems and examples spanning across the text for gradual challenge and perspective, this textbook is an excellent choice for senior-level courses in systems and control or as a complementary reference in introductory graduate level courses. The text is designed to appeal to a broad audience of engineers and scientists interested in learning the main ideas behind feedback control theory.

Fundamentals of OOP and Data Structures in Java is a text for an introductory course on classical data structures. Part One of the book presents the basic principles of Object-Oriented Programming (OOP) and Graphical User Interface (GUI) programming with Java as the example language. Part Two introduces each of the major data structures with supporting, GUI-based laboratory programs designed to reinforce the basic concepts and principles of the text. These laboratories allow the reader to explore and experiment with the properties of each data structure. All source code for the laboratories is available on the web. By integrating the principles of OOP and GUI programming, this book takes the unique path of presenting the fundamental issues of data structures within the context of paradigms that are essential to today's professional software developer. The authors assume the reader has only an elementary understanding of Java and no experience with OOP.

Mechanisms are fundamental components of machines. They are used to transmit forces and moments and to manipulate objects in industrial machinery, robots, automobiles, aircraft, mechatronics devices and biomechanical systems. A knowledge of the kinematic and dynamic properties of mechanisms is essential for their design and control. This book describes methods and algorithms for the analysis of kinematic systems. Beginning with basic concepts, the book then discusses a variety of problem-solving approaches and computational techniques. Its distinctive feature is its focus on the contour equation as a powerful, computationally efficient tool that will help the reader to design complex spatial mechanisms. This handy text will be useful for senior or graduate students, researchers and practising engineers working in robotics, vehicle dynamics, mechatronics and machine design.