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This text explores formation control of vehicle systems and introduces three representative systems: space systems, aerial systems and robotic systems Formation Control of Multiple Autonomous Vehicle Systems offers a review of the core concepts of dynamics and control and examines the dynamics and control aspects of formation control in order to study a wide spectrum of dynamic vehicle systems such as spacecraft, unmanned aerial vehicles and robots. The text puts the focus on formation control that enables and stabilizes formation configuration, as well as formation reconfiguration of these vehicle systems. The authors develop a uniform paradigm of describing vehicle systems’ dynamic behaviour that addresses both individual vehicle’s motion and overall group’s movement, as well as interactions between vehicles. The authors explain how the design of proper control techniques regulate the formation motion of these vehicles and the development of a system level decision-making strategy that increases the level of autonomy for the entire group of vehicles to carry out their missions. The text is filled with illustrative case studies in the domains of space, aerial and robotics. • Contains uniform coverage of «formation» dynamic systems development • Presents representative case studies in selected applications in the space, aerial and robotic systems domains • Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step-by-step instructions as an example • Provides open source example models and simulation codes • Includes notes and further readings that offer details on relevant research topics, recent progress and further developments in the field Written for researchers and academics in robotics and unmanned systems looking at motion synchronization and formation problems, Formation Control of Multiple Autonomous Vehicle Systems is a vital resource that explores the motion synchronization and formation control of vehicle systems as represented by three representative systems: space systems, aerial systems and robotic systems.

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There is a renaissance that is occurring in chemical and process engineering, and it is crucial for today’s scientists, engineers, technicians, and operators to stay current. With so many changes over the last few decades in equipment and processes, petroleum refining is almost a living document, constantly needing updating. With no new refineries being built, companies are spending their capital re-tooling and adding on to existing plants. Refineries are like small cities, today, as they grow bigger and bigger and more and more complex. A huge percentage of a refinery can be changed, literally, from year to year, to account for the type of crude being refined or to integrate new equipment or processes. This book is the most up-to-date and comprehensive coverage of the most significant and recent changes to petroleum refining, presenting the state-of-the-art to the engineer, scientist, or student. Useful as a textbook, this is also an excellent, handy go-to reference for the veteran engineer, a volume no chemical or process engineering library should be without. Written by one of the world’s foremost authorities, this book sets the standard for the industry and is an integral part of the petroleum refining renaissance. It is truly a must-have for any practicing engineer or student in this area.

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A multidisciplinary update on continental plate tectonics and plate boundary discontinuities Understanding the origin and evolution of the continental crust continues to challenge Earth scientists. Lithospheric Discontinuities offers a multidisciplinary review of fine scale layering within the continental lithosphere to aid the interpretation of geologic layers. Once Earth scientists can accurately decipher the history, internal dynamics, and evolution of the continental lithosphere, we will have a clearer understanding of how the crust formed, how plate tectonics began, and how our continents became habitable. Volume highlights: Theories and observations of the current state of tectonic boundaries and discontinuities Contributions on field observations, laboratory experiments, and geodynamic predictions from leading experts in the field Mantle fabrics in response to various mantle deformation processes Insights on fluid distribution using geophysical observations, and thermal and viscosity constraints from dynamic modeling Discontinuities associated with lithosphere and lithosphere-asthenosphere boundary An integrated study of the evolving physical and chemical processes associated with lithosphere asthenosphere interaction Written for academic and researchgeoscientists, particularly in the field of tectonophysics, geophysicists, geodynamics, seismology, structural geology, environmental geology, and geoengineering, Lithospheric Discontinuities is a valuable resource that sheds light on the origin and evolution of plate interaction processes.

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A comprehensive review of the fundamental molecular mechanisms in fermentation and explores the microbiology of fermentation technology and industrial applications Microbial Sensing in Fermentation presents the fundamental molecular mechanisms involved in the process of fermentation and explores the applied art of microbiology and fermentation technology. The text contains descriptions regarding the extraordinary sensing ability of microorganisms towards small physicochemical changes in their surroundings. The contributors – noted experts in the field – cover a wide range of topics such as microbial metabolism and production (fungi, bacteria, yeast etc); refined and non-refined carbon sources; bioprocessing; microbial synthesis, responses and performance; and biochemical, molecular and extra/intracellular controlling. This resource contains a compilation of literature on biochemical and cellular level mechanisms for microbial controlled production and includes the most significant recent advances in industrial fermentation. The text offers a balanced approach between theory and practical application, and helps readers gain a clear understanding of microbial physiological adaptation during fermentation and its cumulative effect on productivity. This important book: Presents the fundamental molecular mechanisms involved in microbial sensing in relation to fermentation technology Includes information on the significant recent advances in industrial fermentation Contains contributions from a panel of highly-respected experts in their respective fields Offers a resource that will be essential reading for scientists, professionals and researchers from academia and industry with an interest in the biochemistry and microbiology of fermentation technology Written for researchers, graduate and undergraduate students from diverse backgrounds, such as biochemistry and applied microbiology, Microbial Sensing in Fermentation offers a review of the fundamental molecular mechanisms involved in the process of fermentation.

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Petroleum refining and process engineering is constantly changing. No new refineries are being built, but companies all over the world are still expanding or re-purposing huge percentages of their refineries every year, year after year. Rather than building entirely new plants, companies are spending billions of dollars in the research and development of new processes that can save time and money by being more efficient and environmentally safer. Biodesulfurization is one of those processes, and nowhere else it is covered more thoroughly or with more up-to-date research of the new advances than in this new volume from Wiley-Scrivener. Crude oil consists of hydrocarbons, along with other minerals and trace elements. Sulfur is the most abundant element after carbon and hydrogen, then comes after it nitrogen, and they usually concentrated in the higher boiling fractions of the crude oil. The presence of sulfur compounds causes the corrosion of refining facilities and catalysts poisoning. Moreover, the presence of nitrogen-compounds directly impacts the refining processes via; poisoning the cracking catalysts and inhibiting the hydrodesulfurization catalysts. In addition, both have bad impacts on the environment, throughout the sulfur and nitrogen oxide emissions. Removing this sulfur and nitrogen from the refining process protects equipment and the environment and creates a more efficient and cost-effective process. Besides the obvious benefits to biodesulfurization, there are new regulations in place within the industry with which companies will, over the next decade or longer, spend literally tens, if not hundreds, of billions of dollars to comply. Whether for the veteran engineer needing to update his or her library, the beginning engineer just learning about biodesulfurization, or even the student in a chemical engineering class, this outstanding new volume is a must-have. Especially it covers also the bioupgrading of crude oil and its fractions, biodenitrogenation technology and application of nanotechnology on both bio-desulfurization and denitrogenation technologies.

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A noted expert offers a guide to the complex chemical regulations in the Middle East region Chemical Regulation in the Middle East offers an essential guide to the patchwork of chemical regulatory programs and the complex system of permits and licenses that manage chemicals in the countries of the Middle East. The book explores the range of ministry, legislative, and other decrees that encompass pesticides, occupational safety and health, as well as safety data sheets and product labels that address regulation to widely-varying degrees. The author explores the Cooperation Council for the Arab States of the Gulf and reviews the key regulatory agencies and chemical substance regulations. The text outlines the pesticide regulations, occupational safety and health regulations, waste regulations and safety data sheets and labels in Bahrain, Egypt, Israel, Kuwait, Oman, Pakistan, Saudi Arabia, United Arab Emirates and Abu Dhabi. This important guide: Offers a compendium of the diverse range of chemical regulations in the countries of the Middle East Untangles the complex system of permits and licenses that are unique to the various countries in the Middle East Contains information based on the research and experience of a noted expert in the field Includes a review of the key regulatory agencies and chemical substance regulations of the Arab States of the Gulf Written for chemical organisations and professionals doing business in the Middle East, Chemical Regulation in the Middle East offers a must-have resource that details the unique chemical regulations in each country in the region.

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Concepts, methods, and issues in calculating the fair value of intangibles Accounting for Goodwill and Other Intangible Assets is a guide to one of the most challenging aspects of business valuation. Not only must executives and valuation professionals understand the complicated set of rules and practices that pertain to intangibles, they must also be able to recognize when to apply them. Inside, readers will find these many complexities clarified. Additionally, this book assists professionals in overcoming the difficulties of intangible asset accounting, such as the lack of market quotes and the conflicts among various valuation methodologies. Even the rarest and most problematic situations are treated in detail in Accounting for Goodwill and Other Intangible Assets. For example, the authors analyze principles for identifying finite intangible assets and appropriately accounting for amortization expenses or impairment losses. Using the information in this book, the results of these calculations can also be reported with precision on financial statements. These topics are especially important for ensuring the success of any asset acquisition or business combination. In these special cases, the utmost accuracy is essential. This book provides: Rules for identifying and recognizing intangible assets in business combinations and asset acquisitions Guidance on the accurate valuation and carrying amount calculation of acquired and self-created intangibles Tips for overcoming the challenges unique to intangible assets, including impairment testing Clear instructions for disclosing intangible assets, goodwill, and amortization expenses Accounting for Goodwill and Other Intangible Assets is an indispensable reference for valuation students and specialists. Ervin L. Black and Mark L. Zyla provide thorough instructions for understanding, accounting for, and reporting this challenging asset class.

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Systematically presents the input-output finite-time stability (IO-FTS) analysis of dynamical systems, covering issues of analysis, design and robustness The interest in finite-time control has continuously grown in the last fifteen years. This book systematically presents the input-output finite-time stability (IO-FTS) analysis of dynamical systems, with specific reference to linear time-varying systems and hybrid systems. It discusses analysis, design and robustness issues, and includes applications to real world engineering problems. While classical FTS has an important theoretical significance, IO-FTS is a more practical concept, which is more suitable for real engineering applications, the goal of the research on this topic in the coming years. Key features: Includes applications to real world engineering problems. Input-output finite-time stability (IO-FTS) is a practical concept, useful to study the behavior of a dynamical system within a finite interval of time. Computationally tractable conditions are provided that render the technique applicable to time-invariant as well as time varying and impulsive (i.e. switching) systems. The LMIs formulation allows mixing the IO-FTS approach with existing control techniques (e. g. H∞ control, optimal control, pole placement, etc.). This book is essential reading for university researchers as well as post-graduate engineers practicing in the field of robust process control in research centers and industries. Topics dealt with in the book could also be taught at the level of advanced control courses for graduate students in the department of electrical and computer engineering, mechanical engineering, aeronautics and astronautics, and applied mathematics.

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A comprehensive review of behavioral operations management that puts the focus on new and trending research in the field The Handbook of Behavioral Operations offers a comprehensive resource that fills the gap in the behavioral operations management literature. This vital text highlights best practices in behavioral operations research and identifies the most current research directions and their applications. A volume in the Wiley Series in Operations Research and Management Science, this book contains contributions from an international panel of scholars from a wide variety of backgrounds who are conducting behavioral research. The handbook provides succinct tutorials on common methods used to conduct behavioral research, serves as a resource for current topics in behavioral operations research, and as a guide to the use of new research methods. The authors review the fundamental theories and offer frameworks from a psychological, systems dynamics, and behavioral economic standpoint. They provide a crucial grounding for behavioral operations as well as an entry point for new areas of behavioral research. The handbook also presents a variety of behavioral operations applications that focus on specific areas of study and includes a survey of current and future research needs. This important resource: Contains a summary of the methodological foundations and in-depth treatment of research best practices in behavioral research. Provides a comprehensive review of the research conducted over the past two decades in behavioral operations, including such classic topics as inventory management, supply chain contracting, forecasting, and competitive sourcing. Covers a wide-range of current topics and applications including supply chain risk, responsible and sustainable supply chain, health care operations, culture and trust. Connects existing bodies of behavioral operations literature with related fields, including psychology and economics. Provides a vision for future behavioral research in operations. Written for academicians within the operations management community as well as for behavioral researchers, The Handbook of Behavioral Operations offers a comprehensive resource for the study of how individuals make decisions in an operational context with contributions from experts in the field.

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