Manufacturing Technologies for Machines of the Future: 21st Century Technologies

ISBN-13: 9783642628221 / Angielski / Miękka / 2013 / 820 str.

Anatoli I. Dashchenko

Opis

This is a unique edition in a new format: a combination of text and video material in a book and accompanying CDs. The idea to produce a work to represent the bottom line of scientific and industrial development at the - ginning of the 21st century came from leading scientists. This book undertakes analysis, description, and development prognoses of machine-building technologies and production automation (including examples of basic research of the development and optimization of re- world production processes, as well as methods and results of experimental research and presentation of some of the most modern and innovative manufacturing processes) which should form a basis for the automated production technologies of the future in the 21st century. This book offers an interdisciplinary presentation of unique material and combines for the first time theoretical and practical results of the last decades from the most important branches of machine building in ind- trial-developed countries (automotive industry, agricultural machine bui- ing, electrical engineering and electronics, machine-tools industry, aircraft industry, instrumental industry, control systems, and consumer goods - dustry) in a scientific-technical edition. This should make this book int- esting to a wide range of readers. It is aimed at those who because of their knowledge and talent will become the elite engineers of their respective countries: doctoral and undergraduate students, to young prospective and qualified engineers, to advanced beginners and well-known scientists and researchers."

Spis treści

I: Global Aspects of Manufacturing.- 1 The Role of Mechanical Engineering in the 21st Century.- 1.1 Introduction.- 1.2 Example: Optimum Engineering of Space Flight Equipment.- 1.2.1 The Problems of Automation.- 1.2.2 Some Aspects of Advanced Technologies.- 1.2.3 Testing and Diagnostics of Automatic Equipment and Technological Systems.- 1.2.4 New Methods for Designing Machines.- 1.3 Fundamentals of Parts Machining Technology.- 1.4 New Challenges in Machine-Tool Design and Process Development.- 1.5 Engineering Safety and Ecology.- 1.5.1 Safe Technologies.- 1.5.2 Ecological Safety.- 1.5.3 New Ecological Problems of Technology.- 1.6 Biomechanics.- 1.7 Principal Directions of Future Developments.- Literature.- 2 Globalization of Production: Consequences for Product Design and Technology.- 2.1 Introduction.- 2.1.1 Motivation and Scope of this Chapter.- 2.1.2 Production as an Important Part of a Manufacturer’s Activities.- 2.1.3 Key Figures of Success.- 2.1.4 A Few Definitions.- 2.1.5 Globalized Production.- 2.2 Product Life Cycle.- 2.2.1 An Overview.- 2.2.2 The Role of Design, Technology, and Production in the PLC.- 2.2.3 Quality.- 2.2.4 Responsibility and Liability.- 2.3 Globalized Production.- 2.3.1 What is so Special About Globalization?.- 2.3.2 Why Go Global?.- 2.4 Consequences for Design and Manufacturing.- 2.4.1 Subcontracting: The Main Contractor Can Decide Independently.- 2.4.2 Equal Partners and Foreign Branches: The Production Site is Fixed.- 2.5 Summary and Conclusion.- 3 Fractal Company — A Revolution in Corporate Culture.- 3.1 Introduction.- 3.2 Basic Attributes of Future Production Systems.- 3.2.1 Forecasts and Visions.- 3.2.2 Increased Automation?.- 3.2.3 Changing Values — Exploiting Opportunities.- 3.3 Organizational Restructuring as a Perpetual Task.- 3.3.1 The Fractal Company — a Structure with a Future.- 3.3.2 Rapid Changes Versus Lasting Improvements.- 3.4 Case Study: Turnaround of a Medium-Sized Enterprise.- 3.4.1 The Company Through the Years.- 3.4.2 The Point of Departure: the Company Versus the Market.- 3.4.3 The Idea: New Structures and New Procedures.- 3.4.4 The Basis: Models for Day-to-Day Work.- 3.4.5 Production According to Sales Means that only Goods Already Sold are Manufactured.- 3.4.6 The Workforce is Responsible for Coordination and Performance.- 3.4.7 Stock-Level Optimization Through Small Control Circuits in Materials Management.- 3.4.8 The Separate Development of New Products and Basic Technologies Results in Shorter Innovation Cycles.- 3.4.9 Autarchic Development Teams are the Prerequisite for Successful Product Innovations.- 3.4.10 Exploiting Market Openings Through Synchronous Product Engineering.- 3.4.11 True Market-Oriented Product Development Means More Than Just Efficiency in the Development Department.- 3.4.12 Development is an Ongoing Affair.- 3.5 Conclusion.- Literature.- 4 Adaptable Production Structures.- 4.1 Altering Value-Adding Structures.- 4.1.1 Introduction.- 4.1.2 Adapting to Changes in a Turbulent Environment.- 4.1.3 Changes in Value-Adding Structures.- 4.2 Permanent Adaptation of Factory Structures.- 4.2.1 Introduction.- 4.2.2 Adaptation of Complex Systems.- 4.2.3 Autonomy and Self-Organization of Performance Units.- 4.3 The Virtual Company.- 4.4 Continuous Improvement and Participative Factory Planning by Computer Systems.- 4.4.1 Introduction.- 4.4.2 Turbulent Influencing Factors and the Demand for Continuous Adaptation of Factory Structures.- 4.4.3 Multiscaling Factory Planning.- 4.5 Digital and Virtual Planning.- 4.5.1 Participative Planning with the Planning Table.- 4.5.2 Planning with Virtual Reality.- 4.6 Conclusion.- Literature.- 5 Life Cycle Engineering.- 5.1 Background.- 5.2 Issues in Life Cycle Engineering.- 5.2.1 Green Design and Eco-efficiency.- 5.2.2 Life Cycle Assessment.- 5.2.3 Environmentally Conscious Manufacturing.- 5.2.4 Life Cycle Costing.- 5.2.5 Recycling.- 5.3 An Analytic Hierarchy Process Model for Evaluation of Process Emissions.- 5.3.1 Introduction.- 5.3.2 Overview of Model.- 5.3.3 Structure of the Model.- 5.3.4 Part A: The Criteria Used.- 5.3.5 Part B: The Alternatives Evaluated.- 5.3.6 Determination of the Single Environmental Score.- 5.3.7 Case Study and Discussions.- 5.4 Environmental Life Cycle Costing of Products.- 5.4.1 Introduction.- 5.4.2 Development of the LCECA Model.- 5.4.3 Validation of the LCECA Model.- Acknowledgements.- Literature.- II: Trends and Developments of Advanced Manufacturing — Scientific Basis.- 6 Fundamental Aspects of Mechanical Engineering.- 6.1 Basic Rules.- 6.1.1 Estimating Technological Operations Analytically.- 6.1.2 The Fundamentals of Basing Theory.- 6.1.3 Sized Chains.- 6.1.4 The Formation of the Surface Layer Properties of a Machine Part.- 6.2 The use of Scientific Procedures for the Progressive Development of Technological Processes in Mechanical Engineering.- 6.2.1 The Deformation of Technological Systems During their Operation.- 6.2.2 The Changes in Technological Systems with Time.- 6.2.3 The Group Machining Methods.- 6.2.4 The Directional Formation of Technological Processes.- 6.3 Technological Heredity in Mechanical Engineering.- 6.3.1 The Inheritance of Basic Regularities3.- 6.3.2 A Problem of Precision Engineering.- 6.3.3 Elastic Strength Theory as a Tool for Determining the Properties of Product Assembly.- 7 High-Speed Machining.- 7.1 Introduction.- 7.2 History.- 7.2.1 Period of Ballistic Tests.- 7.2.2 Application of High-Speed Main Spindles.- 7.2.3 European Situation.- 7.3 Cutting Process and Tools.- 7.3.1 Optimization of the Machining Parameters.- 7.3.2 Conditions of Contact.- 7.3.3 The Correct Cutting-Edge Materia.- 7.3.4 The Right Tool.- 7.3.5 Proper Machining Strategy.- 7.3.6 Safe Processes.- 7.3.7 Reduced Process Chains.- 7.4 Machine Tools and Components.- 7.4.1 High-Frequency Motor Spindles.- 7.4.2 Fast Controls.- 7.4.3 Fast Dynamic Feed Drives.- 7.4.4 Lightweight Design.- 7.5 Conclusion.- Literature.- 8 Aspects of Manufacturing Systems Integration.- 8.1 Introduction.- 8.2 Characteristics of Technological Processes and Manufacturing Equipment.- 8.3 Optimizing Processes.- 8.4 Creating Variants for Structural Layout Schemes for Machine Tools.- 8.5 Selecting Surface Machining Methods and Process Structures.- 8.6 Optimization Problems in Assembly Processes.- 8.7 Rational Variant Selection of the Product Route.- 8.7.1 Introduction.- 8.7.2 A Method of Rational Variant Selection.- 8.7.3 Discussion.- 8.8 Synthesis of the Product Routes.- 8.8.1 Method.- 8.8.2 Discussion.- 8.8.3 Selection of Rational Routes.- 8.8.4 Conclusion.- 8.9 The assembly process structure.- Conclusion.- Literature.- 9 CAPP Systems for Machining, Assembly, and Disassembly Operations.- 9.1 Introduction.- 9.2 CAPP systems.- 9.3 Technological and Computer Background.- 9.3.1 Integration with CAD.- 9.3.2 Group Technology.- 9.3.3 Knowledge Management and Decision Methods.- 9.4 CAPP Systems for Machining.- 9.5 CAPP Systems for Assembly.- 9.6 CAPP Systems for Disassembly.- 9.7 Conclusions and Perspectives.- Literature.- 10 Modeling of Machine Tools and Assembly Systems.- 10.1 Statistical Simulation of “The Simplest” Complex Manufacturing Systems (MS).- 10.1.1 Introduction.- 10.1.2 Model of Blocked-Together Automated Line Work.- 10.1.3 Studying the Effect of the Degree of Operations’ Concentration on the Blocks’ and Tools’ Reliability on the AL Work Stability (Rhythm).- 10.1.4 The Stock Value Calculation of a Part.- 10.1.5 The Effects of Cutting Tool Reliability.- Conclusion.- 10.2 Using Simulation of Complex Manufacturing Systems for New Calculation Methods.- 10.2.1 Capacity and Reliability of ALs with Rigidly Connected (Blocked) Positions.- 10.2.2 Capacity and Reliability of ALs with Flexibly Connected Positions.- 10.2.3 Capacity and Reliability of Non-Synchronous Assembly Lines.- Conclusion.- 10.3 Mathematical Modeling of Reliability Parameters of Automatic Lines.- 10.3.1 Introduction.- 10.3.2 Evaluation of MS Reliability Parameters.- 10.3.3 Technical-Economic Model of MS “Ageing”.- 10.3.4 Analysis.- Literature.- 11 Cybernetic Structures, Networks, and Adaptive Control of Work Systems in Manufacturing.- 11.1 Introduction and Motivation.- 11.1.1 The Cybernetic Framework of Manufacturing.- 11.1.2 Generic Structure of an Elementary Work System.- 11.3 The Cybernetic Structure of an EWS.- 11.4 The Information Structure of the EWS.- 11.4.1 Character of the Information in an EWS.- 11.5 Characterization of the Subject.- 11.5.1 Assessment of the Subject’s Competence.- 11.5.2 Human Factors and Competence of the Subject.- 11.5.3 Analysis of Observation Data and Results.- 11.6 Operation and Control of EWSs.- 11.6.1 Estimates of Information Measures.- 11.6.2 Entropy and Transmission.- 11.7 The Structuring of a Factory System.- 11.7.1 A Factory System as an EWS Adaptive Network.- 11.8 Conclusions.- Literature.- III: Trends and Developments of Advanced Manufacturing — Examples of Real Implementations.- 12 Rapid Prototyping in Manufacturing.- 12.1 The Idea.- 12.2 History.- 12.3 Trends373.- 12.3.1 Rapid Product Shaping.- 12.3.2 Going the “Long Distance”.- 12.4 Sample Applications.- 12.5 Conclusion.- 13 Challenges in Electronic Production.- 13.1 Introduction.- 13.1.1 Trends in Component Packaging.- 13.2 Placement Systems for Production Systems in Electronic Assembly.- 13.2.1 Requirements for Production Systems in Electronic Assembly.- 13.2.2 Kinematical Principles and Available SMD Placement Machines.- 13.2.3 System Components for Assuring the Quality of Placement Systems.- 13.3 Development of Component Assembly Placement.- 13.3.1 Trends in Substrate Technology and Function Integration.- 13.3.2 New Applications for Assembly Systems Involving 3-D MIDs.- 13.4 Interconnection Technology.- 13.4.1 Basics of Electronics Interconnection Technology.- 13.4.2 Mass Soldering in Electronics Production.- 13.4.3 Selective Soldering.- 13.5 Quality Assurance in Electronics Production.- Literature.- 14 Electronic Vacuum Technologies.- 14.1 Introduction.- 14.2 The Base Postulation.- 14.3 Forming Particle Beams.- 14.4 Electron-Beam Treatment of Materials.- 14.5 Treating Materials Using Ion-Beam-Discharge Gas Plasma.- 14.6 Vacuum Thin-Film Deposition and Dispersion.- 14.7 Microtexture Shaping and Ion Implantation.- 14.8 Testing and Diagnostics in a Vacuum.- 14.9 Conclusion.- 15 New Solid-State Lasers and Their Application Potential.- 15.1 Introduction.- 15.2 Process and System-Relevant Implications of Beam Quality.- 15.3 Process Benefits of Low BPP.- 15.4 System Benefits of Low BPP.- 15.5 Diode-Pumped Solid-State Lasers.- 15.6 Rod and Slab Systems.- 15.7 Thin-Disc Laser.- 15.8 Fiber Lasers.- Literature.- 16 New Information Technologies in Industrial Activity of the Enterprises (IAE).- 16.1 Change of Working Culture and Business Processes.- 16.2 From a Paper-Based Working Culture to a Working Culture Based on Digital Models.- 16.3 From a Tayloristic Organization to a Holistic.- Organization Based on Product and Process Data Management.- 16.4 From 2-D Presentation-Based Decisions to Decisions Based on Virtual Product Development and Virtual Manufacturing.- 16.5 Uniform Information Environments for Machine-Building Enterprises.- 16.5.1 MAN (metropolitan area network).- 16.5.2 WAN (wide area network).- 16.5.3 GAN (global area network).- 16.6 Automated Systems of Designing.- 16.6.1 3-D CAD — FEA.- 16.6.2 3-D CAD — MBS.- 16.6.3 3-D CAD — DMU.- 16.6.4 3-D CAD — RPT.- 16.6.5 3-D CAD — NC.- 16.6.6 3-D CAD — RC.- 16.6.7 3-D CAD — MC.- 16.6.8 3-D CAD — TPD.- 16.7 Virtual Product Development.- 16.8 Production Management (Methods and Systems).- 16.8.1 Production Planning and Control.- 16.8.2 Order Processing.- 16.8.3 Production Data Management.- 16.9 Technological Management.- 16.10 Examples of Realization.- 16.10.1 Thinking in Process Chains.- 16.10.2 Modeling 3-D Geometry.- 16.10.3 Deriving Technical Documents.- 16.10.4 Using the Benefits of Modern Information and Communication Technologies.- 16.10.5 Application of Organizational Management Methods.- Literature.- 17 Modeling of Manufacturing and Technological Processes in CIM.- 17.1 Production Modeling as Science Basis of CIM.- 17.1.1 Mechanical Engineering of the Post-Industrial Era.- 17.1.2 Automation Manufacturing System Evolution.- 17.1.3 The Main Production Modeling Concepts.- 17.1.4 Turbo as Intelligence Manufacture Methodology.- 17.1.5 Unified Representation of Transition and Procedure Models.- 17.1.6 The Particulars of the Simulation Task Decision for Different Procedures.- 17.2 Application of Simulation in CIM.- 17.2.1 CIM Simulation.- 17.2.2 “Resources-Actions-Operations” Method: Basic Theses.- 17.2.3 Intelligent Modeling System Based on RAO Method.- 17.2.4 Production Simulator Structure.- 17.2.5 Simulation of the Inventory Policy.- 17.2.6 Shop Scheduling with Simulation.- 17.2.7 Hybrid System for Job-Shop Scheduling.- Literature.- IV: Advanced Manufacturing Equipment.- 18 New Machine Tools and Systems.- 18.1 New Machine Tools for New Manufacturing Processes M. Mandelli.- 18.1.1 Introduction.- 18.1.2 Which Are the Customers’ Needs?.- 18.1.3 From Product to Process.- 18.1.4 Trend of Evolution for the Production Means.- 18.1.5 Two Case Histories to Think About.- 18.1.6 Trendy Technical Topics.- 18.1.7 Conclusions.- 18.2 Intelligent Machine Tools.- 18.2.1 Necessity of Global Intelligent Manufacturing in Modern Societies T. Nagao T. Nagao Y. Hatamura M. Mitsuish M. Nakao.- 18.2.2 Development of an Intelligent Machining Center M. Mitsuish Y. Hatamura T. Nagao.- 18.2.3 Development of an Intelligent Face Grinding Machine M. Nakao Y. Hatamura.- 18.2.4 Evaluating the Intelligent Face-Grinding Machine.- 18.2.5 Conclusion.- 18.3 Modern Concepts for Machine Tools F. Rehsteiner.- 18.3.1 Machine Tools with Non-Rectangular-Axis Systems.- 18.3.2 Making a Product from A to Z in a Single Setup.- 18.3.3 Two-Stage Machine Tools.- 18.3.4 Conclusion.- Literature.- 19 Reconfigurable Manufacturing Systems.- 19.1 The Challenge.- 19.2 Types of Manufacturing Systems.- 19.2.1 Dedicated Manufacturing Lines.- 19.2.2 Flexible manufacturing systems.- 19.2.3 The High Cost of FMS.- 19.2.4 RMS — A New Class of Systems.- 19.3 Technologies Enabling Reconfiguration.- 19.4 State of the Art.- 19.5 System-Level Design Issues in RMS.- 19.5.1 Life-Cycle Economics.- 19.5.2 Definition.- 19.5.3 Modular Structure.- 19.5.4 Interfaces.- 19.6 Reconfigurable Machine Tools.- 19.6.1 Variation of Products.- 19.6.2 Reconfigurability for workpiece size.- 19.6.3 Reconfigurability for part geometry.- 19.6.4 Reconfigurability for production volume and rate.- 19.6.5 Reconfigurability for changes in machining process.- 19.6.6 Reconfigurability for machining accuracy.- 19.6.7 Parallel-Kinematics in Reconfigurable Manufacturing Systems.- 19.5.8 Challenges.- 19.7 Control for Reconfigurable Machines in Open Architecture.- 19.8 System Ramp-Up.- 19.9 Conclusions.- Acknowledgements.- Literature.- 20 Robot Technology.- 20.1 Introduction.- 20.2 Present Situation of Robot Utilization and Robot Technology.- 20.2.1 Trends in Control Technology.- 20.2.2 Trends in Sensors.- 20.3 Changeable and Adaptive Robot Systems.- 20.3.1 Man-Machine Interaction.- Literature.- 21 Methods for Nondestructive Testing and Diagnostics of Automatic Equipment and Technological Systems of Machines.- 21.1 Nondestructive Testing and Diagnostics of Automatic.- 21.1.1 Purposes and methods of NDT and diagnostics.- 21.1.2 NDT Methods.- 21.1.3 Expert Systems.- 21.2 Qualimetry.- 21.2.1 Qualimetry of Mechanisms.- 21.2.2 Quality Indices and Parameters to be Registered.- 21.2.3 Standardization of Testing of the Robots’ Positioning Mechanisms.- 21.2.4 Analysis of the Most Important Characteristics of the Intermittent Motion Mechanisms.- 21.3 Qualimetry Data Application for Diagnostics.- 21.3.1 Qualimetry Data on Locking Mechanisms.- 21.3.2 Qualimetry Data on Index Tables.- 21.3.3 Qualimetry Indices and Parameters on a Turret.- 21.3.4 Qualimetry Indices on Robots.- 21.3.5 Qualimetry Indices on Transporters of Transfer Line.- 21.4 Complex Methods of Diagnostics With Standard Oscillograms Measuring Cyclic Automatic Equipment.- 21.4.1 Packaged Approach, Procedure, and Mode of Experiments.- 21.4.2 Standard Oscillograms and Defect Charts.- 21.4.3 Estimation of a Mechanism’s Quality and Condition by Qualimetry.- 21.5 Investigation of Mechanisms’ Wear at the Stage of Their Manufacture and Operation.- 21.5.1 At the Stage of Manufacturing.- 21.5.2 At the Stage of Operation.- 21.6 Monitoring and Diagnostics of Technological Process.- 21.6.1 Introduction.- 21.6.2 Nondestructive Testing of Materials, Instruments and Workpieces.- 21.6.3 Diagnostics of Technological Process During Operation.- 21.6.4 Testing of Technological Inheritance.- 21.6.5 Testing for Solving the Problems of Precision Engineering.- 21.7 Diagnostic Methods for Testing Machine Units with the Help of Built-in Devices.- 21.8 Evaluation Methods of NDT and Diagnostics and the Perspectives of Their Application in Industry.- 21.8.1 Preparation to the Technological Systems’ Design.- 21.8.2 Preparation to Diagnostics in the Design of Technological Systems.- 21.8.3 Investigation of the Technological Equipment at the Stage of its Assembly.- 21.8.4 Investigation of the Technological Systems at the Stage of Operation.- 21.8.5 Evaluation of Data and Knowledge Bases.- 21.8.6 Personnel Education, Instruction, Training and Certification.- 21.8.7 Evaluation Methods of NDT and Diagnostics and their Application in Safety Management.- Literature.- V: Future Trends.- 22 Prospects of Technology Development.- 22.1 Technologies for Factory Automation and Robots for Manufacturing of the Future.- 22.1.1 Historical Overview of Factory Automation Technology.- 22.1.2 Technological Advancement Towards Intelligence.- 22.1.3 Market Globalization.- 22.1.4 Challenges for Intelligence with Flexible Automation and Robots.- 22.2 Factory Automation Technologies.- 22.2.1 Control Technology for Machine Tools (CNC).- 22.2.2 FA Network.- 22.2.3 Servo System.- 22.3 Ultra-Precision Nano-Machine Tool.- 22.3.1 Ultra-Precision Micro-Mechanical Machining.- 22.3.2 FANUC ROBOnano Ui.- 22.3.3 Examples of Ultra-Precision Micro-Grooves.- 22.3.4 Example of Micro 3-D Structure.- 22.4 Robot.- 22.4.1 Robotization.- 22.4.2 Intelligent Robots.- 22.4.3 Networking.- 22.4.4 YAG Laser Robot.- 22.4.5 Laser Processing and Laser Robots.- 22.5 Injection-Molding Machines.- 22.5.1 AC Servo Motor Injection-Molding Machine.- 22.5.2 Pressure-Profile Trace Control.- 22.5.3 Centrally Controlled Injection-Molding Factory.- 22.5.4 Integration of CAD, CAM, CAE and Injection Molding.- 22.6 Wire Electric-Discharge Machines.- 22.6.1 About Wire Electric-Discharge Machines.- 22.6.2 High Speed.- 22.6.3 High Precision.- 22.6.4 Unattended Operation.- 22.6.5 Networking.- 22.7 State-of-the-Art FANUC Factories Incorporating FA and Robot Technologies.- 22.7.1 Machining Factory.- 22.7.2 Servo Motor Factory.- 22.7.3 Robot Factory.- 22.7.4 Sheet-Metal Factory.- Acknowledgments.- Literature.- 23 Perspectives of Innovative Technologies in Manufacturing.- 23.1 Active and Intelligent Systems.- 23.1.1 Mechatronic Systems.- 23.1.2 Intelligent Systems.- 23.2 Intelligent Flexible Manufacturing Systems.- 23.2.1 Paradigm Shifts in Industrial Automation.- 23.2.2 Decentral Intelligent Automation.- 23.2.3 Example: Modular Transport System.- 23.2.4 Material Flow in Flexible Manufacturing Systems.- 23.2.5 Development of Manufacturing Control and Monitoring Systems.- 23.3 Virtual Reality in Industrial Applications.- 23.3.1 Types of VR Systems.- 23.3.2 VR Hardware.- 23.3.3 Example: Cyberbikes — A Virtual Enterprise.- 23.3.4 A Sample Bike-Manufacturing Procedure.- 23.3.5 System Design and Implementation.- Literature.

Blurb

This combination of handbook and multimedia CD-ROM offers the most up-to-date view of today's and tomorrow's world of manufacturing technologies. It was written by leading experts from the USA, Europe, and Asia and spans a wide range of topics: from industrial management and organization to automation and control, from mechanical to electronical technology, and from machine tools to the consumer goods industry. It gives a unique interdisciplinary and global presentation of material and combines, for the first time, theoretical and significant practical results from the last decades of the most important branches of machine building. Its broad coverage should appeal to the highly skilled scientific expert as well as to the experienced design engineer, and to undergraduate as well as to advanced students.