Electronics and communications engineering Books

Book SynopsisMaster vSphere automation with this comprehensive reference VMware vSphere PowerCLI Reference, Automating vSphere Administration, 2nd Edition is a one-stop solution for vSphere automation. Fully updated to align with the latest vSphere and PowerCLI release, this detailed guide shows you how to get the most out of PowerCLI''s handy cmdlets using real-world examples and a practical, task-based approach. You''ll learn how to store, access, update, back up, and secure massive amounts of data quickly through the power of virtualization automation, and you''ll get acquainted with PowerCLI as you learn how to automate management, monitoring, and life-cycle operations for vSphere. Coverage includes areas like the PowerCLI SDK, SRM, vCOPS, and vCloud Air. Plus guidance toward scheduling and viewing automation, using DevOps methodology and structured testing and source control of your PowerCLI scripts. Clear language and detailed explanations make this reference the Table of ContentsIntroduction xxiii Part I Install, Configure, and Manage the vSphere Environment 1 Chapter 1 Automating vCenter Server Deployment and Configuration 3 Chapter 2 Automating vSphere Hypervisor Deployment and Configuration 41 Chapter 3 Automating Networking 75 Chapter 4 Automating Storage 119 Rule Sets 146 Chapter 5 Using Advanced vSphere Features 165 Part II Managing the Virtual Machine Life Cycle 211 Chapter 6 Creating Virtual Machines 213 Chapter 7 Using Templates and Customization Specifications 243 Chapter 8 Configuring Virtual Machine Hardware 265 Chapter 9 Advanced Virtual Machine Features 293 Chapter 10 Using vApps 331 Part III Securing Your vSphere Environment 373 Chapter 11 Backing Up and Restoring Your Virtual Machines 375 Chapter 12 Organize Your Disaster Recovery 397 Chapter 13 Hardening the vSphere Environment 441 Chapter 14 Maintain Security in Your vSphere Environment 475 Part IV Monitoring and Reporting 495 Chapter 15 Reporting and Auditing 497 Chapter 16 Using Statistical Data 545 Chapter 17 Alarms 585 Part V Integration 619 Chapter 18 The SDK 621 Managed Object References 644 Chapter 19 vCloud Director 663 Chapter 20 vCloud Air 693 Chapter 21 vRealize Orchestrator 711 Chapter 22 Site Recovery Manager 791 Chapter 23 PowerActions 811 Part VI PowerCLI and DevOps 839 Chapter 24 Source Control 841 Chapter 25 Running Scripts 895 Appendix Example Reports 915 Index 935

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Book SynopsisThis book presents a guidance on a large range of decision aids for risk analysts and decision makers in industry so that vital decisions can be made in a more consistent, logical, and rigorous manner. It provide good industry practices on how risk decision making is conducted in the chemical industry from many risk information sources as well as all the elements that need to be addressed to ensure good decisions are being made. Topics Include: Identifying Risk Decisions, A Risk Decision Strategy for Process Safety, Case Studies in Risk Decision Making Failures, Guidance on Selecting Decision Aids, Templates for Decision Making in Risk-Based Process Safety, Understanding Process Hazards & Worst Possible Consequences, Management of Change as an Exercise in Risk Identification, Inherently Safer Design as an Exercise in Risk Tradeoff Analysis, Using LOPA and Risk Matrices in Risk Decisions, Using CPQRA and Safety Risk Criteria in Risk Decisions, Group Decision Making, Avoiding DecisionTable of ContentsContents v List of Tables xi List of Figures xiii Acronyms and Abbreviations xv Glossary xix Acknowledgements xxxi Preface xxxiii Introduction 35 1.1 History of Approaches to Process Safety Management 35 1.2 The Paradigm of Risk-Based Process Safety Management 36 1.2.1 Risk Based Process Safety (RBPS) Management 36 1.2.2 Risk Decisions Characteristics 39 1.3 A Risk Decision Making Method 40 1.4 Road Map and Relationship of this Book with Other Material 41 1.5 Risk Decisions during Process Life Cycle 43 1.6 Pros and cons 44 1.7 Summary 44 Key Concepts in Risk Management 47 2.1 Risk Management Process 47 2.2 Risk Identification – Risk Scenario 47 2.2.1 Risk Identification 49 2.3 Risk Analysis - Consequences and Frequency 49 2.3.1 Consequences and Impacts 50 2.3.2 Frequency 50 2.3.3 Risk Estimation 51 2.4 Risk Evaluation 56 2.4.1 Decision criteria 56 2.4.2 Qualitative, Semi-Quantitative and Quantitative Risk Criteria 59 2.4.3 Risk Reduction Factor 61 2.5 Summary 62 Understanding Process Hazards, Consequences and Risks 63 3.1 Process Hazards 63 3.1.1 Acute Toxicity 63 3.1.2 Flammability and Explosivity 67 3.1.3 Chemical Reactivity 70 3.1.4 Significant or Large Environmental Release Hazards 72 3.1.5 Other Process Hazards 72 3.2 Risk Identification 73 3.3 Consequences and Impacts 73 3.4 Frequency 74 3.5 Risk 76 Risk Decisions and Strategies 79 4.1 Objectives and attributes 79 4.1.1 Objectives 79 4.1.2 Attributes 79 4.2 Process Life Cycle and Alternatives 81 4.3 The Decision Process 82 4.3.1 Define the Problem 82 4.3.2 Evaluate the Baseline Risk 83 4.3.3 Identify the Alternatives 83 4.3.4 Screen the Alternatives 84 4.3.5 Make the Decision 84 4.4 Objectives and Outcomes 84 4.5 Tradeoffs 85 4.6 Uncertainty 87 4.7 Risk Tolerance 90 4.8 Linked Decisions 91 4.9 Decision trees 92 Decision Making 95 5.1 Defining the Decision Problem 95 5.1.1 Types of Decisions 95 5.2 Selecting a Decision Tool 97 5.2.1 Progression of Risk Analysis Tools 97 5.2.2 Factors in Decision Tool Selection 98 5.3 Assembling the Appropriate Assessment Resources 101 5.3.1 Team Members 101 5.3.2 Opening Meeting 104 5.3.2 Tools/Methods 104 5.3.3 Time 105 5.4 Define decision criteria 105 5.4.1 Process Safety Risk Criteria 105 5.4.2 Other Criteria 107 5.5 Making the decision 107 5.5.1 Characteristics of Decision Aids 107 5.5.2 Appling the Decision Tools, Aids, and Criteria 108 5.5.3 Recognizing and Dealing with Uncertainties 111 5.5.4 Recognizing the Need to Escalate the Decision 113 5.6 Finalizing decision and the approval process 114 5.7 Communicating, Documenting, and implementing the Decision 114 5.7 Summary 116 Potential Decision Traps 117 6.1 Introduction 117 6.2 Anchoring Trap 117 6.2.1 Anchoring Trap Example, Titanic 118 6.2.2 Countering the Anchoring Trap 118 6.3 Status-Quo Trap 119 6.3.1 Status Quo Examples 119 6.3.2 Countering the Status-Quo Trap 120 6.4 Sunk-cost and escalation of commitment trap 120 6.4.1 Countering the Sunk-Cost Trap 121 6.5 Confirming-Evidence Trap 121 6.5.1 Countering the Confirming Evidence Trap 122 6.6 Framing Trap 122 6.6.1 Framing Example 123 6.6.2 Countering the Framing Trap 123 6.7 Estimating and Forecasting Trap 123 6.7.1 Overconfidence 123 6.7.2 Prudence 126 6.7.3 Recallability 127 6.7.4 Countering Estimating and Forecasting Traps 127 6.8 Groupthink Trap 128 6.8.1 Groupthink Example, Flixborough, UK Explosion 128 6.8.2 Countering the Groupthink Trap 128 6.9 Summary 129 Inherently Safer Design 131 7.1 Introduction to inherently safer design 131 7.2 Inherently Safer Design Strategies 131 7.3 Hierarchy of Risk Management Controls 132 7.4 ISD examples to illustrate decision Process 133 7.4.1 Example with minimization 135 7.4.2 Example with moderation 136 7.4.3 Example with simplification 137 7.4.3 Other tradeoffs 137 Make versus buy 138 Substitution 138 7.5 Summary 138 Management of Change 139 8.1 Introduction 139 8.2 Decision Approval level 143 8.3 Examples of Decision Process Applied to Changes 144 8.3.1 Equipment Change 144 8.3.2 Procedural Change 145 8.3.3 Process Parameter Change 146 8.3.4 Organizational Change 147 8.3.5 Raw Material Change 148 8.3.6 Vendor Change 149 8.4 Summary 150 Using LOPA and Risk Matrices in Risk Decisions 151 9.1 Introduction 151 9.2 Risk Matrices 151 9.2.1 Risk Matrix Format 152 9.3 Layer of Protection Analysis 155 9.3.1 Independent Protection Layers 158 9.3.2 LOPA Format 159 9.4 Phosgene Handling Process for Risk Decision Example 159 9.4.1 Description 159 9.4.2 Risk Matrix for Phosgene Handling Example 161 9.5 Phosgene Example Decision Process Using Risk Matrix 164 9.6 Decision Process for Phosgene Example Using LOPA 165 9.7 Summary 172 Using QRA and Safety Risk Criteria in Risk Decisions 173 10.1 Introduction to CPQRA 173 10.1.1 Calculate Frequencies 173 10.1.2 Calculate Consequences 178 10.1.3 Quantitative Risk Analysis (QRA) 179 10.2 Safety Risk Criteria 179 10.2.1 Scope of Risk Criteria 179 10.2.2 Individual and Societal Risk 180 10.2.3 Continual Improvement 184 10.3 High Consequence Low Probability (HCLP) Events 185 10.4 Examples 188 10.4.1 Comparing Design Options: Bromine Handling Facility 188 10.4.2 Compliance and Continual Improvement: Organic Acid Vent System 192 10.4.3 Special Case: The Domino Effect 193 10.5 Summary 195 Decision Implementation 197 11.1 Introduction 197 11.2 Implementation 197 11.3 Documentation 197 11.3.1 Importance of a decision document 197 11.3.2 Writing recommendations 197 11.3.3 Advice of legal counsel 198 11.3.4 Contents of the decision document 199 11.3.5 Retention of the decision document 199 11.4 Revalidation 200 11.4.1 Time based 200 11.4.2 Situation based 200 11.5 Summary 201 Summary and Lessons 203 12.1 Introduction 203 12.2 Case Studies in Risk: Decision Making Failures 203 12.2.1 Failure to Define the Problem 203 12.2.2 Failure to Establish Baseline Risk and Identify Alternatives 204 12.2.3 Make the Decision - Failure to consider tradeoffs 205 12.2.4 Make the Decision - Failure to understand uncertainty 206 12.2.5 Make the Decision – Failure to do risk identification and Failure to probe risk tolerance 206 12.2.6 Make the Decision - Failure to recognize linked decisions 207 12.3 Lessons and Summary 207 References 211 Index 219

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Book SynopsisSustainable Aviation Technology and Operations Comprehensively covers research and development initiatives to enhance the environmental sustainability of the aviation sector Sustainable Aviation Technology and Operations provides a comprehensive and timely outlook of recent research advances in aeronautics and air transport, with emphasis on both long-term sustainable development goals and current achievements. This book discusses some of the most promising advances in aircraft technologies, air traffic management and systems engineering methodologies for sustainable aviation. The topics covered include: propulsion, aerodynamics, avionics, structures, materials, airspace management, biofuels and sustainable lifecycle management. The physical processes associated with various aircraft emissions including air pollutants, noise and contrails are presented to support the development of computational models for aircraft design, flight path optimization and eTable of ContentsList of Contributors vii About the Editors ix About the Companion Website x 1 Sustainable Aviation: An Introduction 1 Roberto Sabatini and Alessandro Gardi Section I Aviation Sustainability Fundamentals 29 2 Climate Impacts of Aviation 31 Yixiang Lim, Alessandro Gardi, and Roberto Sabatini 3 Noise Pollution and Other Environmental and Health Impacts of Aviation 49 Alessandro Gardi, Rohan Kapoor, Yixiang Lim, and Roberto Sabatini Section II Systems for Sustainable Aviation 79 4 Systems Engineering Evolutions 81 Anthony Zanetti, Arun Kumar, Alessandro Gardi, and Roberto Sabatini 5 Life Cycle Assessment for Carbon Neutrality 113 Enda Crossin, Alessandro Gardi, and Roberto Sabatini 6 Air Traffic Management and Avionics Systems Evolutions 145 Alessandro Gardi, Yixiang Lim, Nichakorn Pongsakornsathien, Roberto Sabatini, and Trevor Kistan 7 Optimisation of Flight Trajectories and Airspace 165 Alessandro Gardi, Yixiang Lim, and Roberto Sabatini Section III Aerostructures and Propulsive Technologies 213 8 Advanced Aerodynamic Configurations 215 Matthew Marino, Alessandro Gardi, Roberto Sabatini, and Yixiang Lim 9 Lightweight Structures and Advanced Materials 241 Raj Das and Joel Galos 10 Low-Emission Propulsive Technologies in Transport Aircraft 263 Kavindu Ranasinghe, Kai Guan, Alessandro Gardi, and Roberto Sabatini 11 Approved Drop-in Biofuels and Prospects for Alternative Aviation Fuels 301 Graham Dorrington Section IV Research Case Studies 323 12 Overall Contribution of Wingtip Devices to Improving Aircraft Performance 325 Nikola Gavrilovi´c, Boško Rašuo, Vladimir Parezanovi´c, George Dulikravich, and Jean-Marc Moschetta 13 Integration of Naturally Occurring Materials in Lightweight Aerostructures 343 Jose Silva, Alessandro Gardi, and Roberto Sabatini 14 Distributed and Hybrid Propulsion: A Tailored Design Methodology 355 Martin Burston, Kavindu Ranasinghe, Alessandro Gardi, Vladimir Parezanovic, Rafic Ajaj, and Roberto Sabatini 15 Integration of Hybrid-Electric Propulsion Systems in Small Unmanned Aircraft 393 Jacob Sliwinski, Alessandro Gardi, Matthew Marino, and Roberto Sabatini 16 Benefits and Challenges of Liquid Hydrogen Fuels for Commercial Transport Aircraft 417 Stephen Rondinelli, Alessandro Gardi, and Roberto Sabatini 17 Multi-Objective Trajectory Optimisation Algorithms for Avionics and ATM Systems 433 Alessandro Gardi, Roberto Sabatini, and Trevor Kistan 18 Energy-Optimal 4D Guidance and Control for Terminal Descent Operations 457 Yixiang Lim, Alessandro Gardi, and Roberto Sabatini 19 Contrail Modelling for 4D Trajectory Optimisation 475 Yixiang Lim, Alessandro Gardi, and Roberto Sabatini 20 Trajectory Optimisation to Minimise the Combined Radiative Forcing Impacts of Contrails and CO2 499 Yixiang Lim, Alessandro Gardi, Roberto Sabatini, and Trevor Kistan 21 The W Life Cycle Model – San Francisco Airport Case Study 509 Anthony Zanetti, Alessandro Gardi, and Roberto Sabatini 22 Conclusions and Future Research 517 Roberto Sabatini and Alessandro Gardi Index 523

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Book SynopsisFlight Vehicle Dynamics and Control Rama K. Yedavalli, The Ohio State University, USA A comprehensive textbook which presents flight vehicle dynamics and control in a unified framework Flight Vehicle Dynamics and Controlpresents the dynamics and control of various flight vehicles, including aircraft, spacecraft, helicopter, missiles, etc, in a unified framework. It covers the fundamental topics in the dynamics and control of these flight vehicles, highlighting shared points as well as differences in dynamics and control issues, making use of the systems level' viewpoint. The book begins with the derivation of the equations of motion for a general rigid body and then delineates the differences between the dynamics of various flight vehicles in a fundamental way. It then focuses on the dynamic equations with application to these various flight vehicles, concentrating more on aircraft and spacecraft cases. Then the control systems analysis and design is carried out both from transfer fTable of ContentsPreface xxi Perspective of the Book xxix Part I Flight Vehicle Dynamics 1 Roadmap to Part I 2 1 An Overview of the Fundamental Concepts of Modeling of a Dynamic System 5 1.1 Chapter Highlights 5 1.2 Stages of a Dynamic System Investigation and Approximations 5 1.3 Concepts Needed to Derive Equations of Motion 8 1.4 Illustrative Example 15 1.5 Further Insight into Absolute Acceleration 20 1.6 Chapter Summary 20 1.7 Exercises 21 Bibliography 22 2 Basic Nonlinear Equations of Motion in Three Dimensional Space 23 2.1 Chapter Highlights 23 2.2 Derivation of Equations of Motion for a General Rigid Body 23 2.3 Specialization of Equations of Motion to Aero (Atmospheric) Vehicles 32 2.4 Specialization of Equations of Motion to Spacecraft 43 2.5 Flight Vehicle DynamicModels in State Space Representation 52 2.6 Chapter Summary 58 2.7 Exercises 58 Bibliography 60 3 Linearization and Stability of Linear Time Invariant Systems 61 3.1 Chapter Highlights 61 3.2 State Space Representation of Dynamic Systems 61 3.3 Linearizing a Nonlinear State Space Model 63 3.4 Uncontrolled, Natural Dynamic Response and Stability of First and Second Order Linear Dynamic Systems with State Space Representation 66 3.5 Chapter Summary 73 3.6 Exercises 74 Bibliography 75 4 Aircraft Static Stability and Control 77 4.1 Chapter Highlights 77 4.2 Analysis of Equilibrium (Trim) Flight for Aircraft: Static Stability and Control 77 4.3 Static Longitudinal Stability 79 4.4 Stick Fixed Neutral Point and CG Travel Limits 86 4.5 Static Longitudinal Control with Elevator Deflection 92 4.6 Reversible Flight Control Systems: Stick Free, Stick Force Considerations 99 4.7 Static Directional Stability and Control 105 4.8 Engine Out Rudder/Aileron Power Determination: Minimum Control Speed, VMC 107 4.9 Chapter Summary 111 4.10 Exercises 111 Bibliography 114 5 Aircraft Dynamic Stability and Control via Linearized Models 117 5.1 Chapter Highlights 117 5.2 Analysis of Perturbed Flight from Trim: Aircraft Dynamic Stability and Control 117 5.3 Linearized Equations of Motion in Terms of Stability Derivatives For the Steady, Level Equilibrium Condition 122 5.4 State Space Representation for Longitudinal Motion and Modes of Approximation 124 5.5 State Space Representation for Lateral/Directional Motion and Modes of Approximation 131 5.6 Chapter Summary 138 5.7 Exercises 139 Bibliography 140 6 Spacecraft Passive Stabilization and Control 143 6.1 Chapter Highlights 143 6.2 Passive Methods for Satellite Attitude Stabilization and Control 143 6.3 Stability Conditions for Linearized Models of Single Spin Stabilized Satellites 146 6.4 Stability Conditions for a Dual Spin Stabilized Satellite 149 6.5 Chapter Summary 151 6.6 Exercises 152 Bibliography 152 7 Spacecraft Dynamic Stability and Control via Linearized Models 155 7.1 Chapter Highlights 155 7.2 Active Control: Three Axis Stabilization and Control 155 7.3 Linearized Translational Equations of Motion for a Satellite in a Nominal Circular Orbit for Control Design 158 7.4 Linearized Rotational (Attitude) Equations of Motion for a Satellite in a Nominal Circular Orbit for Control Design 160 7.5 Open Loop (Uncontrolled Motion) Behavior of Spacecraft Models 161 7.6 External Torque Analysis: Control Torques Versus Disturbance Torques 161 7.7 Chapter Summary 162 7.8 Exercises 162 Bibliography 163 Part II Fight Vehicle Control via Classical Transfer Function Based Methods 165 Roadmap to Part II 166 8 Transfer Function Based Linear Control Systems 169 8.1 Chapter Highlights 169 8.2 Poles and Zeroes in Transfer Functions and Their Role in the Stability and Time Response of Systems 174 8.3 Transfer Functions for Aircraft Dynamics Application 179 8.4 Transfer Functions for Spacecraft Dynamics Application 183 8.5 Chapter Summary 184 8.6 Exercises 184 Bibliography 186 9 Block Diagram Representation of Control Systems 187 9.1 Chapter Highlights 187 9.2 Standard Block Diagram of a Typical Control System 187 9.3 Time Domain Performance Specifications in Control Systems 192 9.4 Typical Controller Structures in SISO Control Systems 196 9.5 Chapter Summary 200 9.6 Exercises 201 Bibliography 202 10 Stability Testing of Polynomials 203 10.1 Chapter Highlights 203 10.2 Coefficient Tests for Stability: Routh–Hurwitz Criterion 204 10.3 Left Column Zeros of the Array 208 10.4 Imaginary Axis Roots 208 10.5 Adjustable Systems 209 10.6 Chapter Summary 210 10.7 Exercises 210 Bibliography 211 11 Root Locus Technique for Control Systems Analysis and Design 213 11.1 Chapter Highlights 213 11.2 Introduction 213 11.3 Properties of the Root Locus 214 11.4 Sketching the Root Locus 218 11.5 Refining the Sketch 219 11.6 Control Design using the Root Locus Technique 223 11.7 Using MATLAB to Draw the Root Locus 225 11.8 Chapter Summary 226 11.9 Exercises 227 Bibliography 229 12 Frequency Response Analysis and Design 231 12.1 Chapter Highlights 231 12.2 Introduction 231 12.3 Frequency Response Specifications 232 12.4 Advantages of Working with the Frequency Response in Terms of Bode Plots 235 12.5 Examples on Frequency Response 238 12.6 Stability: Gain and Phase Margins 240 12.7 Notes on Lead and Lag Compensation via Bode Plots 246 12.8 Chapter Summary 248 12.9 Exercises 248 Bibliography 250 13 Applications of Classical Control Methods to Aircraft Control 251 13.1 Chapter Highlights 251 13.2 Aircraft Flight Control Systems (AFCS) 252 13.3 Longitudinal Control Systems 252 13.4 Control Theory Application to Automatic Landing Control System Design 259 13.5 Lateral/Directional Autopilots 265 13.6 Chapter Summary 267 Bibliography 267 14 Application of Classical Control Methods to Spacecraft Control 269 14.1 Chapter Highlights 269 14.2 Control of an Earth Observation Satellite Using a Momentum Wheel and Offset Thrusters: Case Study 269 14.3 Chapter Summary 281 Bibliography 281 Part III Flight Vehicle Control via Modern State Space Based Methods 283 Roadmap to Part III 284 15 Time Domain, State Space Control Theory 287 15.1 Chapter Highlights 287 15.2 Introduction to State Space Control Theory 287 15.3 State Space Representation in Companion Form: Continuous Time Systems 291 15.4 State Space Representation of Discrete Time (Difference) Equations 292 15.5 State Space Representation of Simultaneous Differential Equations 294 15.6 State Space Equations from Transfer Functions 296 15.7 Linear Transformations of State Space Representations 297 15.8 Linearization of Nonlinear State Space Systems 300 15.9 Chapter Summary 304 15.10 Exercises 305 Bibliography 306 16 Dynamic Response of Linear State Space Systems (Including Discrete Time Systems and Sampled Data Systems) 307 16.1 Chapter Highlights 307 16.2 Introduction to Dynamic Response: Continuous Time Systems 307 16.3 Solutions of Linear Constant Coefficient Differential Equations in State Space Form 309 16.4 Determination of State Transition Matrices Using the Cayley–Hamilton Theorem 310 16.5 Response of a Constant Coefficient (Time Invariant) Discrete Time State Space System 314 16.6 Discretizing a Continuous Time System: Sampled Data Systems 317 16.7 Chapter Summary 319 16.8 Exercises 320 Bibliography 321 17 Stability of Dynamic Systems with State Space Representation with Emphasis on Linear Systems 323 17.1 Chapter Highlights 323 17.2 Stability of Dynamic Systems via Lyapunov Stability Concepts 323 17.3 Stability Conditions for Linear Time Invariant Systems with State Space Representation 328 17.4 Stability Conditions for Quasi-linear (Periodic) Systems 337 17.5 Stability of Linear, Possibly Time Varying, Systems 338 17.6 Bounded Input–Bounded State Stability (BIBS) and Bounded Input–Bounded Output Stability (BIBO) 344 17.7 Chapter Summary 345 17.8 Exercises 345 Bibliography 346 18 Controllability, Stabilizability, Observability, and Detectability 349 18.1 Chapter Highlights 349 18.2 Controllability of Linear State Space Systems 349 18.3 State Controllability Test via Modal Decomposition 351 18.4 Normality or Normal Linear Systems 352 18.5 Stabilizability of Uncontrollable Linear State Space Systems 353 18.6 Observability of Linear State Space Systems 355 18.7 State Observability Test via Modal Decomposition 357 18.8 Detectability of Unobservable Linear State Space Systems 358 18.9 Implications and Importance of Controllability and Observability 361 18.10 A Display of all Three Structural Properties via Modal Decomposition 365 18.11 Chapter Summary 365 18.12 Exercises 366 Bibliography 368 19 Shaping of Dynamic Response by Control Design: Pole (Eigenvalue) Placement Technique 369 19.1 Chapter Highlights 369 19.2 Shaping of Dynamic Response of State Space Systems using Control Design 369 19.3 Single Input Full State Feedback Case: Ackermann’s Formula for Gain 373 19.4 Pole (Eigenvalue) Assignment using Full State Feedback: MIMO Case 375 19.5 Chapter Summary 379 19.6 Exercises 379 Bibliography 381 20 Linear Quadratic Regulator (LQR) Optimal Control 383 20.1 Chapter Highlights 383 20.2 Formulation of the Optimum Control Problem 383 20.3 Quadratic Integrals and Matrix Differential Equations 385 20.4 The Optimum Gain Matrix 387 20.5 The Steady State Solution 388 20.6 Disturbances and Reference Inputs 389 20.7 Trade-Off Curve Between State Regulation Cost and Control Effort 392 20.8 Chapter Summary 395 20.9 Exercises 395 Bibliography 396 21 Control Design Using Observers 397 21.1 Chapter Highlights 397 21.2 Observers or Estimators and Their Use in Feedback Control Systems 397 21.3 Other Controller Structures: Dynamic Compensators of Varying Dimensions 405 21.4 Spillover Instabilities in Linear State Space Dynamic Systems 408 21.5 Chapter Summary 410 21.6 Exercises 410 Bibliography 410 22 State Space Control Design: Applications to Aircraft Control 413 22.1 Chapter Highlights 413 22.2 LQR Controller Design for Aircraft Control Application 413 22.3 Pole Placement Design for Aircraft Control Application 414 22.4 Chapter Summary 421 22.5 Exercises 421 Bibliography 421 23 State Space Control Design: Applications to Spacecraft Control 423 23.1 Chapter Highlights 423 23.2 Control Design for Multiple Satellite Formation Flying 423 23.3 Chapter Summary 427 23.4 Exercises 428 Bibliography 428 Part IV Other Related Flight Vehicles 429 Roadmap to Part IV 430 24 Tutorial on Aircraft Flight Control by Boeing 433 24.1 Tutorial Highlights 433 24.2 System Overview 433 24.3 System Electrical Power 436 24.4 Control Laws and System Functionality 438 24.5 Tutorial Summary 441 Bibliography 442 25 Tutorial on Satellite Control Systems 443 25.1 Tutorial Highlights 443 25.2 Spacecraft/Satellite Building Blocks 443 25.3 Attitude Actuators 445 25.4 Considerations in Using Momentum Exchange Devices and Reaction Jet Thrusters for Active Control 445 25.5 Tutorial Summary 449 Bibliography 449 26 Tutorial on Other Flight Vehicles 451 26.1 Tutorial on Helicopter (Rotorcraft) Flight Control Systems 451 26.2 Tutorial on Quadcopter Dynamics and Control 462 26.3 Tutorial on Missile Dynamics and Control 465 26.4 Tutorial on Hypersonic Vehicle Dynamics and Control 468 Bibliography 470 Appendices 471 Appendix A Data for Flight Vehicles 472 A.1 Data for Several Aircraft 472 A.2 Data for Selected Satellites 476 Appendix B Brief Review of Laplace Transform Theory 479 B.1 Introduction 479 B.2 Basics of Laplace Transforms 479 B.3 Inverse Laplace Transformation using the Partial Fraction Expansion Method 482 B.4 Exercises 483 Appendix C A Brief Review of Matrix Theory and Linear Algebra 487 C.1 Matrix Operations, Properties, and Forms 487 C.2 Linear Independence and Rank 489 C.3 Eigenvalues and Eigenvectors 490 C.4 Definiteness of Matrices 492 C.5 Singular Values 493 C.6 Vector Norms 497 C.7 Simultaneous Linear Equations 499 C.8 Exercises 501 Bibliography 503 Appendix D Useful MATLAB Commands 505 D.1 Author Supplied Matlab Routine for Formation of Fuller Matrices 505 D.2 Available Standard Matlab Commands 507 Index 509

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Book SynopsisThis book is focused on the fundamental aspects of analysis, modeling and design of digital control loops around high-frequency switched-mode power converters in a systematic and rigorous manner Comprehensive treatment of digital control theory for power converters Verilog and VHDL sample codes are provided Enables readers to successfully analyze, model, design, and implement voltage, current, or multi-loop digital feedback loops around switched-mode power converters Practical examples are used throughout the book to illustrate applications of the techniques developed Matlab examples are also provided Table of ContentsPreface ix Introduction 1 Chapter 1 Continuous-Time Averaged Modeling of DC–DC Converters 13 1.1 Pulse Width Modulated Converters 14 1.2 Converters in Steady State 16 1.2.1 Boost Converter Example 17 1.2.2 Estimation of the Switching Ripple 19 1.2.3 Voltage Conversion Ratios of Basic Converters 20 1.3 Converter Dynamics and Control 21 1.3.1 Converter Averaging and Linearization 22 1.3.2 Modeling of the Pulse Width Modulator 24 1.3.3 The System Loop Gain 25 1.3.4 Averaged Small-Signal Models of Basic Converters 26 1.4 State-Space Averaging 28 1.4.1 Converter Steady-State Operating Point 28 1.4.2 Averaged Small-Signal State-Space Model 29 1.4.3 Boost Converter Example 30 1.5 Design Examples 32 1.5.1 Voltage-Mode Control of a Synchronous Buck Converter 32 1.5.2 Average Current-Mode Control of a Boost Converter 42 1.6 Duty Ratio d[k] Versus d(t) 48 1.7 Summary of Key Points 50 Chapter 2 The Digital Control Loop 51 2.1 Case Study: Digital Voltage-Mode Control 52 2.2 A/D Conversion 53 2.2.1 Sampling Rate 53 2.2.2 Amplitude Quantization 56 2.3 The Digital Compensator 58 2.4 Digital Pulse Width Modulation 63 2.5 Loop Delays 65 2.5.1 Control Delays 65 2.5.2 Modulation Delay 66 2.5.3 Total Loop Delay 70 2.6 Use of Averaged Models in Digital Control Design 71 2.6.1 Limitations of Averaged Modeling 71 2.6.2 Averaged Modeling of a Digitally Controlled Converter 74 2.7 Summary of Key Points 78 Chapter 3 Discrete-Time Modeling 79 3.1 Discrete-Time Small-Signal Modeling 80 3.1.1 A Preliminary Example: A Switched Inductor 82 3.1.2 The General Case 85 3.1.3 Discrete-Time Models for Basic Types of PWM Modulation 87 3.2 Discrete-Time Modeling Examples 88 3.2.1 Synchronous Buck Converter 90 3.2.2 Boost Converter 97 3.3 Discrete-Time Modeling of Time-Invariant Topologies 102 3.3.1 Equivalence to Discrete-Time Modeling 106 3.3.2 Relationship with the Modified Z-Transform 108 3.3.3 Calculation of Tu(z) 108 3.3.4 Buck Converter Example Revisited 112 3.4 Matlab® Discrete-Time Modeling of Basic Converters 112 3.5 Summary of Key Points 117 Chapter 4 Digital Control 119 4.1 System-Level Compensator Design 119 4.1.1 Direct-Digital Design Using the Bilinear Transform Method 120 4.1.2 Digital PID Compensators in the z- and the p-Domains 123 4.2 Design Examples 126 4.2.1 Digital Voltage-Mode Control of a Synchronous Buck Converter 126 4.2.2 Digital Current-Mode Control of a Boost Converter 134 4.2.3 Multiloop Control of a Synchronous Buck Converter 136 4.2.4 Boost Power Factor Corrector 141 4.3 Other Converter Transfer Functions 154 4.4 Actuator Saturation and Integral Anti-Windup Provisions 160 4.5 Summary of Key Points 165 Chapter 5 Amplitude Quantization 167 5.1 System Quantizations 167 5.1.1 A/D Converter 167 5.1.2 DPWM Quantization 169 5.2 Steady-State Solution 172 5.3 No-Limit-Cycling Conditions 175 5.3.1 DPWM versus A/D Resolution 175 5.3.2 Integral Gain 178 5.3.3 Dynamic Quantization Effects 181 5.4 DPWM and A/D Implementation Techniques 182 5.4.1 DPWM Hardware Implementation Techniques 182 5.4.2 Effective DPWM Resolution Improvements via ΣΔ Modulation 186 5.4.3 A/D Converters 187 5.5 Summary of Key Points 190 Chapter 6 Compensator Implementation 191 6.1 PID Compensator Realizations 194 6.2 Coefficient Scaling and Quantization 197 6.2.1 Coefficients Scaling 198 6.2.2 Coefficients Quantization 200 6.3 Voltage-Mode Control Example: Coefficients Quantization 203 6.3.1 Parallel Structure 204 6.3.2 Direct Structure 206 6.3.3 Cascade Structure 208 6.4 Fixed-Point Controller Implementation 213 6.4.1 Effective Dynamic Range and Hardware Dynamic Range 214 6.4.2 Upper Bound of a Signal and the L1-Norm 216 6.5 Voltage-Mode Converter Example: Fixed-Point Implementation 218 6.5.1 Parallel Realization 220 6.5.2 Direct Realization 225 6.5.3 Cascade Realization 229 6.5.4 Linear versus Quantized System Response 233 6.6 HDL Implementation of the Controller 234 6.6.1 VHDL Example 235 6.6.2 Verilog Example 237 6.7 Summary of Key Points 239 Chapter 7 Digital Autotuning 241 7.1 Introduction to Digital Autotuning 242 7.2 Programmable PID Structures 243 7.3 Autotuning VIA Injection of a Digital Perturbation 247 7.3.1 Theory of Operation 249 7.3.2 Implementation of a PD Autotuner 253 7.3.3 Simulation Example 255 7.3.4 Small-Signal Analysis of the PD Autotuning Loop 261 7.4 Digital Autotuning Based on Relay Feedback 265 7.4.1 Theory of Operation 266 7.4.2 Implementation of a Digital Relay Feedback Autotuner 267 7.4.3 Simulation Example 271 7.5 Implementation Issues 272 7.6 Summary of Key Points 275 Appendix A Discrete-Time Linear Systems and The Z-Transform 277 A.1 Difference Equations 277 A.1.1 Forced Response 278 A.1.2 Free Response 279 A.1.3 Impulse Response and System Modes 281 A.1.4 Asymptotic Behavior of the Modes 282 A.1.5 Further Examples 283 A.2 Z-Transform 284 A.2.1 Definition 284 A.2.2 Properties 285 A.3 The Transfer Function 287 A.3.1 Stability 287 A.3.2 Frequency Response 288 A.4 State-Space Representation 288 Appendix B Fixed-Point Arithmetic and HDL Coding 291 B.1 Rounding Operation and Round-Off Error 291 B.2 Floating-Point versus Fixed-Point Arithmetic Systems 293 B.3 Binary Two’s Complement (B2C) Fixed-Point Representation 294 B.4 Signal Notation 296 B.5 Manipulation of B2C Quantities and HDL Examples 297 B.5.1 Sign Extension 298 B.5.2 Alignment 299 B.5.3 Sign Reversal 301 B.5.4 LSB and MSB Truncation 302 B.5.5 Addition and Subtraction 304 B.5.6 Multiplication 305 B.5.7 Overflow Detection and Saturated Arithmetic 307 Appendix C Small-Signal Phase Lag of Uniformly Sampled Pulse Width Modulators 313 C.1 Trailing-Edge Modulators 313 C.2 Leading-Edge Modulators 317 C.3 Symmetrical Modulators 318 References 321 Index 335

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Book SynopsisUniquely describes both the crystallography and properties of perovskite related materials. Practical applications in solar cells, microelectronics and telecommunications Interdisciplinary topic drawing on materials science, chemistry, physics, and geology Contains problems and answers to enhance knowledge retention Table of ContentsPreface xi 1 The ABX3 Perovskite Structure 1 1.1 Perovskites 1 1.2 The Cubic Perovskite Structure: SrTiO3 4 1.3 The Goldschmidt Tolerance Factor 6 1.4 ABX3 Perovskite Structure Variants 11 1.5 Cation Displacement: BaTiO3 as an Example 12 1.6 Jahn–Teller Octahedral Distortion: KCuF3 as an Example 16 1.7 Octahedral Tilting 19 1.7.1 Tilt Descriptions 19 1.7.2 Trigonal Symmetry: LaAlO3 as an Example 24 1.7.3 Orthorhombic Symmetry: GdFeO3 and CaTiO3 as Examples 26 1.8 Symmetry Relationships 30 1.9 Hybrid Organic–Inorganic Perovskites 33 1.10 Antiperovskites 34 1.10.1 Cubic and Related Structures 34 1.10.2 Other Structures 36 1.11 Structure‐Field Maps 36 1.12 Theoretical Calculations 38 References 40 Further Reading 40 2 ABX3–Related Structures 42 2.1 Double Perovskites and Related Ordered Structures 42 2.1.1 Rock‐Salt Ordered Double Perovskites 42 2.1.2 Other Ordered Perovskites 45 2.1.3 AA′3B4O12‐Related Phases 48 2.2 Anion Substituted Perovskites 51 2.2.1 Nitrides and Oxynitrides 51 2.2.2 Oxyfluorides 53 2.3 A‐Site‐Deficient Perovskite Structures 54 2.3.1 ReO3, WO3 and Related Structures 54 2.3.2 Perovskite Tungsten Bronzes 55 2.3.3 A‐Site‐Deficient Titanates, Niobates and Tantalates 55 2.4 Anion‐Deficient Phases Containing Tetrahedra 57 2.4.1 Brownmillerites 57 2.4.2 Brownmillerite Microstructures 62 2.4.3 Temperature Variation and Disorder 63 2.4.4 B‐Site Doped Brownmillerite Phases 64 2.4.5 B‐Site Doping and Oxygen Pressure 65 2.4.6 A‐Site Doped Brownmillerite Phases 65 2.4.7 Brownmillerite‐Related Phases 66 2.5 Anion‐Deficient Phases Containing Square Pyramids 69 2.5.1 Manganites 69 2.5.2 SrFeO2.5 and Related Phases 71 2.5.3 Cobaltite‐Related Phases 73 2.6 Point Defects, Microdomains and Modulated Phases 74 Further Reading 78 3 Hexagonal Perovskite–Related Structures 79 3.1 The BaNiO3 Structure 79 3.2 BaNiO3‐Related Phases Containing Trigonal Prisms 81 3.2.1 Commensurate Structures 81 3.2.2 Modulated Structures 89 3.3 Perovskites with Mixed Hexagonal/Cubic Packing: Nomenclature 92 3.4 Perovskites with Mixed Hexagonal/Cubic Packing: Stacking Sequences 95 3.5 Hexagonal Perovskites with chq and cph Stacking 98 3.5.1 (chq) Structures 98 3.5.2 (cph) Structures 99 3.5.3 cphq Intergrowth Structures 104 3.6 Hexagonal Perovskites with cphh Stacking 106 3.6.1 (cc…chh) AnBnO3n Structures 107 3.6.2 (cc…chh) AnBn−1O3n Structures 108 3.6.3 (hhcc…chhcc…c) Intergrowth Phases 110 3.6.4 (cc…ch) AnBn−1O3n Shift and Twinned Phases 112 3.7 Anion‐Deficient Phases Containing BaO2 (c′) Layers 112 3.7.1 (c…c′…ch) Structures 113 3.7.2 (c…c′…chh) Structures 113 3.7.3 (c…c′…chhh) Structures 115 3.8 Anion‐Deficient Phases with BaOX Layers 117 3.8.1 (h′) Layers 117 3.8.2 (c′c′) Layers 119 3.9 Sr4Mn3O10 and Ba6Mn5O16 120 3.10 Temperature and Pressure Variation 120 Reference 122 Further Reading 122 4 Modular Structures 123 4.1 K2NiF4 (A2BX4) and Ruddlesden–Popper Phases 123 4.1.1 The K2NiF4 (T or T/O) Structure 123 4.1.2 Ruddlesden–Popper Phases 127 4.2 The Nd2CuO4 (T′) and T* Structures 129 4.3 Dion–Jacobson and Related Phases 131 4.4 Aurivillius Phases 134 4.5 The Ca2Nb2O7‐Related Phases 136 4.6 Cuprate Superconductors and Related Phases 138 4.6.1 La2CuO4, Nd2CuO4 and YBa2Cu3O7 139 4.6.2 Layered Perovskite Structures 141 4.6.3 Structures Related to the Layered Cuprate Phases 142 4.7 Composition Variation 146 4.8 Intercalation and Exfoliation 151 Further Reading 154 5 Diffusion and Ionic Conductivity 156 5.1 Diffusion 156 5.2 Ionic Conductivity 159 5.3 Proton Conductivity 162 5.4 Oxygen Pressure Dependence and Electronic Conductivity 165 5.5 Oxide Ion Mixed Conductors 167 5.6 Proton Mixed Conductors 169 5.7 Solid Oxide Fuel Cells 172 References 174 Further Reading 174 6 Dielectric Properties 176 6.1 Insulating Perovskites 176 6.2 Dielectric Perovskites 178 6.2.1 General Properties 178 6.2.2 Colossal Dielectric Constant Materials 181 6.3 Ferroelectric/Piezoelectric Perovskites 182 6.3.1 Spontaneous Polarisation and Domains 182 6.3.2 Ferroelectric Domain Switching 185 6.3.3 Ferroelectric Hysteresis Loops 188 6.3.4 Temperature Dependence of Ferroelectricity 189 6.3.5 Pyroelectrics, Piezoelectrics and Crystal Symmetry 191 6.3.6 Strain versus Electric Field Loops 192 6.4 The Development of Ferroelectric/Piezoelectric Ceramic Bodies 193 6.4.1 Ceramic Piezoelectrics 193 6.4.2 Electrostriction 195 6.5 Antiferroelectrics 196 6.6 Ferrielectrics 199 6.7 Relaxor Ferroelectrics 200 6.7.1 Macroscopic Characteristics of Relaxor Ferroelectrics 200 6.7.2 Microstructures of Relaxor Ferroelectrics 202 6.8 Improper Ferroelectricity 206 6.9 Doping and Modification of Properties 208 6.10 Nanoparticles and Thin Films 212 References 215 Further Reading 215 7 Magnetic Properties 217 7.1 Magnetism in Perovskites 217 7.2 Paramagnetic Perovskites 219 7.3 Antiferromagnetic Perovskites 222 7.3.1 Cubic Perovskite‐Related Structures 222 7.3.2 Hexagonal Perovskites 229 7.4 Ferromagnetic Perovskites 233 7.5 Ferrimagnetic Perovskites 236 7.6 Spin Glass Behaviour 237 7.7 Canted Spins and Other Magnetic Ordering 238 7.8 Thin Films 240 7.9 Nanoparticles 243 7.10 Multiferroic Perovskites 243 References 246 Further Reading 246 8 Electronic Conductivity 247 8.1 Perovskite Band Structure: Metallic Perovskites 247 8.2 Metal–Insulator Transitions 250 8.2.1 Titanates and Related Phases 250 8.2.2 LnNiO3 252 8.2.3 Lanthanoid Manganites 253 8.2.4 Lanthanoid Cobaltites 254 8.2.5 (Sr, Ca)2RuO4 and Ca2Ru1−xCrxO4 255 8.2.6 NaOsO3 256 8.3 Perovskite Superconductors 257 8.4 Cuprate High‐Temperature Superconductors 258 8.4.1 Overview 258 8.4.2 Lanthanum Cuprate, La2CuO4 259 8.4.3 Neodymium Cuprate, Nd2CuO4 260 8.4.4 Yttrium Barium Copper Oxide, YBa2Cu3O7 261 8.4.5 Perovskite‐Related Structures and Series 263 8.4.6 The Generic Superconductivity Phase Diagram 263 8.4.7 Defects and Conductivity 265 8.5 Spin Polarisation and Half‐Metals 267 8.6 Charge Ordering and Orbital Ordering 268 8.7 Magnetoresistance 270 8.7.1 Collosal Magnetoresistance (CMR) in Manganites 270 8.7.2 Low‐Field Magnetoresistance 272 8.8 Semiconductivity in Perovskites 272 8.9 Thin Films and Surface Conductivity 275 References 275 Further Reading 275 9 Thermal and Optical Properties 277 9.1 Thermal Expansion 277 9.1.1 Normal Thermal Expansion 277 9.1.2 Thermal Contraction 280 9.1.3 Zero Thermal Expansion Materials 283 9.2 Thermoelectric Properties 284 9.3 The Magnetocaloric Effect 287 9.4 The Pyroelectric and Electrocaloric Effect 288 9.5 Transparency 289 9.6 Electrochromic Films 291 9.7 Electro‐optic Properties 293 9.7.1 Refractive Index Changes 293 9.7.2 Electro‐optic Phase Modulators 294 9.7.3 Electro‐optic Intensity Modulators 296 9.7.4 Ceramic Modulators 299 9.8 Perovskite Solar Cells 299 Reference 302 Further Reading 302 Appendix A The Bond Valence Model for Perovskites 303 Appendix B Summary of the Kröger–Vink Defect Notation 307 Index 309

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Book SynopsisBuilding on the success of the previous three editions, Foundations for Microstrip Circuit Design offers extensive new, updated and revised material based upon the latest research.Table of ContentsPreface xxiii Acknowledgements xxv 1 Introduction to Design Using Microstrip and Planar Lines 1 1.1 Introduction 1 1.2 Origins of Microstrip 2 1.3 RF and Microwave Modules 4 1.4 Interconnections on RF and Microwave Integrated Circuits 13 1.5 High-speed Digital Interconnections 15 1.6 Summary 18 References 18 2 Fundamentals of Signal Transmission on Interconnects 19 2.1 Introduction 19 2.2 Transmission Lines and Interconnects 19 2.3 Interconnects as Part of a Packaging Hierarchy 20 2.4 The Physical Basis of Interconnects 21 2.5 The Physics, a Guided Wave 23 2.6 When an Interconnect Should be Treated as a Transmission Line 32 2.7 The Concept of RF Transmission Lines 34 2.8 Primary Transmission Line Constants 34 2.9 Secondary Constants for Transmission Lines 35 2.10 Transmission Line Impedances 37 2.11 Reflection 38 2.12 Multiple Conductors 41 2.13 Return Currents 44 2.14 Modeling of Interconnects 47 2.15 Summary 49 References 50 3 Microwave Network Analysis 51 3.1 Introduction 51 3.2 Two-port Networks 51 3.3 Scattering Parameter Theory 55 3.4 Signal-flow Graph Techniques and S Parameters 70 3.5 Summary 74 References 74 4 Transmission Line Theory 76 4.1 Introduction 76 4.2 Transmission Line Theory 76 4.3 Chain (ABCD) Parameters for a Uniform Length of Loss-free Transmission Line 81 4.4 Change in Reference Plane 82 4.5 Working With a Complex Characteristic Impedance 83 4.6 Summary 87 References 88 5 Planar Interconnect Technologies 89 5.1 Introductory Remarks 89 5.2 Microwave Frequencies and Applications 89 5.3 Transmission Line Structures 91 5.4 Substrates for Planar Transmission Lines 98 5.5 Thin-film Modules 102 5.6 Thick-film Modules 104 5.7 Monolithic Technology 105 5.8 Printed Circuit Boards 108 5.9 Multichip Modules 111 5.10 Summary 116 References 117 6 Microstrip Design at Low Frequencies 120 6.1 The Microstrip Design Problem 120 6.2 The Quasi-TEM Mode of Propagation 122 6.3 Static-TEM Parameters 124 6.4 Effective Permittivity and Characteristic Impedance of Microstrip 127 6.5 Filling Factor 132 6.6 Approximate Graphically Based Synthesis 134 6.7 Formulas for Accurate Static-TEM Design Calculations 137 6.8 Electromagnetic Analysis-based Techniques 139 6.9 A Worked Example of Static-TEM Synthesis 140 6.10 Microstrip on a Dielectrically Anisotropic Substrate 141 6.11 Microstrip and Magnetic Materials 146 6.12 Effects of Finite Strip Thickness, Metallic Enclosure, and Manufacturing Tolerances 147 6.13 Pulse Propagation along Microstrip Lines 151 6.14 Recommendations Relating to the Static-TEM Approaches 152 6.15 Summary 154 References 155 7 Microstrip at High Frequencies 157 7.1 Introduction 157 7.2 Frequency-dependent Effects 157 7.3 Approximate Calculations Accounting for Dispersion 169 7.4 Accurate Design Formulas 173 7.5 Effects due to Ferrite and to Dielectrically Anisotropic Substrates 182 7.6 Field Solutions 183 7.7 Frequency Dependence of Microstrip Characteristic Impedance 186 7.8 Multimoding and Limitations on Operating Frequency 190 7.9 Design Recommendations 194 7.10 Summary 196 References 196 8 Loss and Power-dependent Effects in Microstrip 200 8.1 Introduction 200 8.2 Q Factor as a Measure of Loss 200 8.3 Power Losses and Parasitic Effects 208 8.4 Superconducting Microstrip Lines 216 8.5 Power-handling Capabilities 219 8.6 Passive Intermodulation Distortion 221 8.7 Summary 224 References 224 9 Discontinuities in Microstrip 227 9.1 Introduction 227 9.2 The Main Discontinuities 228 9.3 Bends in Microstrip 236 9.4 Step Changes in Width (Impedance Step) 241 9.5 The Narrow Transverse Slit 243 9.6 Microstrip Junctions 245 9.7 Recommendations for the Calculation of Discontinuities 261 9.8 Summary 266 References 266 10 Parallel-coupled Microstrip Lines 268 10.1 Introduction 268 10.2 Coupled Transmission Line Theory 269 10.3 Formulas for Characteristic Impedance of Coupled Lines 278 10.4 Semi-empirical Analysis Formulas as a Design Aid 290 10.5 An Approximate Synthesis Technique 301 10.6 Summary 304 References 304 11 Applications of Parallel-coupled Microstrip Lines 306 11.1 Introduction 306 11.2 Directional Couplers 306 11.3 Design Example: Design of a 10 dB Microstrip Coupler 308 11.4 Frequency- and Length-Dependent Characteristics of Directional Couplers 310 11.5 Special Coupler Designs with Improved Performance 315 11.6 Thickness Effects, Power Losses, and Fabrication Tolerances 329 11.7 Choice of Structure and Design Recommendations 331 11.8 Summary 336 References 337 12 Microstrip Passive Elements 339 12.1 Introduction 339 12.2 Lumped Elements 339 12.3 Terminations and Attenuators 343 12.4 Microstrip Stubs 345 12.5 Hybrids and Couplers 348 12.6 Power Combiners and Dividers 355 12.7 Baluns 357 12.8 Integrated Components 359 12.9 Summary 365 References 365 13 Stripline Design 369 13.1 Introduction 369 13.2 Symmetrical Stripline 370 13.3 Asymmetrical Stripline 373 13.4 Suspended Stripline 375 13.5 Coupled Stripline 375 13.6 Double-sided Stripline 379 13.7 Discontinuities 380 13.8 Design Recommendations 381 13.9 Summary 382 References 382 14 CPW Design Fundamentals 384 14.1 Introduction to Properties of Coplanar Waveguide 384 14.2 Modeling CPWs 389 14.3 Formulas for Accurate Calculations 391 14.4 Loss Mechanisms 393 14.5 Dispersion 397 14.6 Discontinuities 408 14.7 Circuit Elements 421 14.8 Variants on the Basic CPW Structure 430 14.9 Summary 439 References 439 15 Slotline 443 15.1 Introduction 443 15.2 Basic Concept and Structure 444 15.3 Operating Principles and Modes 444 15.4 Propagation and Dispersion Characteristics 447 15.5 Evaluation of Guide Wavelength and Characteristic Impedance 451 15.6 Losses 453 15.7 End-effects: Open Circuits and Short Circuits 455 15.8 Summary 463 References 463 16 Slotline Applications 465 16.1 Introduction 465 16.2 Comparators and Couplers 465 16.3 Filter Applications 472 16.4 Magic T 474 16.5 The Marchand Balun 477 16.6 Phase Shifters 480 16.7 Isolators and Circulators 481 16.8 A Double-sided, Balanced Microwave Circuit 486 16.9 Summary 486 References 486 17 Transitions 488 17.1 Introduction 488 17.2 Coaxial-to-microstrip Transitions 488 17.3 Waveguide-to-microstrip Transitions 490 17.4 Transitions between CPW and other Mediums 495 17.5 Slotline Transitions 498 17.6 Other Microstrip Transitions 510 17.7 Summary 511 References 511 18 Measurements of Planar Transmission Line Structures 514 18.1 Introduction 514 18.2 Instrumentation Systems for Microstrip Measurements 514 18.3 Measurement of Scattering Parameters 515 18.4 Measurement of Substrate Properties 519 18.5 Microstrip Resonator Methods 523 18.6 Q Factor Measurements 533 18.7 Measurements of Parallel-coupled Microstrips 535 18.8 Time-domain Reflectometry Techniques 537 18.9 Summary 539 References 539 19 Filters Using Planar Transmission Lines 541 19.1 Introduction 541 19.2 Filter Prototypes 541 19.3 Microstrip Filters 554 19.4 Microstrip Bandpass Filters 559 19.5 Parallel-coupled Line Bandpass Filters 561 19.6 Filter Design Accounting for Losses 572 19.7 Dielectric Resonators and Filters Using Them 572 19.8 Spurline Bandstop Filters 573 19.9 Summary 575 References 575 20 Magnetic Materials and Planar Transmission Lines 576 20.1 Introduction 576 20.2 Microwave Magnetic Materials 577 20.3 Effective Permeability of Magnetic Materials 587 20.4 Microstrip on a Ferrite Substrate 589 20.5 Isolators and Circulators 592 20.6 Transmission Lines Using Metaconductors 595 20.7 Frequency Selective Limiter 606 20.8 Summary 607 References 607 21 Interconnects for Digital Systems 610 21.1 Introduction 610 21.2 Overview of On-chip Interconnects 610 21.3 RC Modeling of On-chip Interconnects 613 21.4 Modeling Inductance 619 21.5 Clock Distribution 622 21.6 Resonant Clock Distribution 625 21.7 Summary 626 References 627 A Physical and Mathematical Properties 629 A.1 SI Units 629 A.2 SI Prefixes 629 A.3 Physical and Mathematical Constants 631 A. 4 Basis of Electromagnetic SI Units 631 A.5 Relationship of SI Units to CGS Units 632 B Material Properties 635 References 642 C RF and Microwave Substrates 643 C.1 Hard substrates 643 C.2 Soft Substrates 644 Index 647

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Book SynopsisTable of ContentsAbout the Author xiii About the Companion Website xiv 1 Introduction 1 1.1 Motivation 1 1.2 Book Overview 4 2 Wireless System Models 13 2.1 Introduction 13 2.1.1 Modulation and Coding Scheme and Link Adaptation 24 2.1.2 Link Adaptation 26 2.2 DS-CDMA Basic Formulation 27 2.2.1 Pulse-shaping Filter 30 2.2.2 Discrete Time Model 30 2.2.3 Channel Model 32 2.2.4 Matrix Formulation for DS/CDMA System Model 38 2.2.5 Synchronous DS/CDMA System 41 2.3 Performance Evaluation 43 2.3.1 Signal to Interference plus Noise Ratio 43 2.3.2 Bit Error Rate 44 2.4 MIMO/OFDM System Model 46 2.4.1 FFT and IFFT 49 2.4.2 Cyclic Prefix 52 2.4.3 Single-user MIMO/OFDM 53 2.4.3.1 3GPP LTE MIMO 55 2.4.4 Adaptive Resource Management 64 2.4.5 Multi-User MIMO/OFDM 69 2.4.6 Adaptive filtering in MIMO/OFDM System 71 2.4.7 Performance Evaluation of MIMO/MBER System 71 2.5 Adaptive Antenna Array 73 2.5.1 Uniform Linear Array 73 2.5.2 DS/CDMA with Antenna Array 78 2.6 Simulation Software 80 References 82 3 Adaptive Detection Algorithms 89 3.1 Introduction 89 3.2 The Conventional Detector 90 3.3 Multiuser Detection 91 3.3.1 Decorrelating Detector 93 3.3.2 Minimum Mean-squared Error Detector 93 3.3.3 Adaptive Detection 95 3.3.4 Blind Detection 95 3.3.4.1 Constrained Optimization 96 3.3.5 Constant Modulus Approach 105 3.3.6 Subspace Approach 107 3.4 Simulation Results 109 3.4.1 Linear Detectors 109 3.4.2 MOE Detectors 111 3.4.2.1 MOE Detector with Single Constraint 111 3.4.2.2 MOE Detector with Multiple Constraints 112 3.4.3 Channel Estimation Techniques 113 3.4.4 LCCMA Detector 115 References 118 4 Robust RLS Adaptive Algorithms 127 4.1 Introduction 127 4.2 IQRD-RLS Algorithm 131 4.3 IQRD-Based Receivers with Fixed Constraints 132 4.3.1 Direct-form MOE Detector 132 4.3.2 MOE Detector based on IQRD-RLS and PLIC 133 4.4 IQRD-based Receiver with Optimized Constraints 135 4.5 Channel Estimation Techniques 139 4.5.1 Noise Cancellation Schemes 139 4.5.1.1 Adaptive Implementation of Improved Cost Function 139 4.5.1.2 Adaptive Implementation of Modified Cost Function 140 4.5.2 Adaptive Implementation of POR Method 141 4.5.3 Adaptive Implementation of Capon Method 142 4.6 New Robust Detection Technique 144 4.7 Systolic Array Implementation 148 4.8 Simulation Results 153 4.8.1 Experiment 1 153 4.8.2 Experiment 2 155 4.8.3 Experiment 3 158 4.8.4 Experiment 4 160 4.8.5 Experiment 5 162 4.9 Complexity Analysis 163 Appendix 4.A Summary of Inverse QR Algorithm with Inverse Updating 167 Appendix 4.B QR Decomposition Algorithms 169 Appendix 4.C Subspace Tracking Algorithms 171 References 173 5 Quadratically Constrained Simplified Robust Adaptive Detection 181 5.1 Introduction 181 5.2 Robust Receiver Design 187 5.2.1 Quadratic Inequality Constraint 187 5.2.1.1 SP Approach 188 5.2.1.2 Tian Approach 189 5.2.1.3 A Simplified VL Approach 191 5.2.2 Optimum Step-size Estimation 194 5.2.3 Low-complexity Recursive Implementation based on PLIC 195 5.2.4 Convergence Analysis 198 5.3 Geometric Approach 199 5.4 Simulation Results 202 5.5 Complexity Analysis 213 Appendix 5.A Robust Recursive Conjugate Gradient (RCG) Algorithm 215 References 217 6 Robust Constant Modulus Algorithms 225 6.1 Introduction 225 6.2 Robust LCCMA Formulation 232 6.3 Low-complexity Recursive Implementation of LCCMA 234 6.4 BSCMA Algorithm 237 6.5 BSCMA with Quadratic Inequality Constraint 239 6.6 Block Processing and Adaptive Implementation 241 6.7 Simulation Results for Robust LCCMA 243 6.8 Simulation Results for Robust BSCMA 246 6.9 Complexity Analysis 250 References 253 7 Robust Adaptive Beamforming 263 7.1 Introduction 263 7.2 Beamforming Formulation 279 7.2.1 Capon Beamforming 279 7.2.2 LCMV Beamforming 281 7.3 Robust Beamforming Design 283 7.3.1 Adaptive Implementation 288 7.4 Cooperative Joint Constraint Robust Beamforming 292 7.4.1 Adaptive Implementation 295 7.5 Robust Adaptive MVDR Beamformer with Single WC Constraint 296 7.5.1 Lagrange Approach 299 7.5.2 Eigendecomposition Method 299 7.5.3 Taylor Series Approximation Method 300 7.5.4 Adaptive MVDR Beamformer with Single WC Constraint 300 7.5.4.1 Lagrange Multiplier Estimation 301 7.5.4.2 Recursive Implementation 303 7.6 Robust LCMV Beamforming with MBWC Constraints 304 7.7 Geometric Interpretation 306 7.7.1 Ellipsoidal Constraint Beamforming 306 7.7.2 Worst-case Constraint Beamforming 308 7.8 Simulation Results 310 7.8.1 Simulations Results for Ellipsoidal Constraint Beamforming 310 7.8.2 Simulation for WC Constraint Beamforming 322 7.8.2.1 DOA Mismatch Scenario 322 7.8.2.2 Small Angular Spread Scenario 328 7.8.2.3 Large Angular Spread Scenario 331 7.9 Summary 332 References 333 8 Minimum BER Adaptive Detection and Beamforming 345 8.1 Introduction 345 8.2 MBER Beamformer 347 8.2.1 AMBER 351 8.2.2 LMBER 352 8.2.3 Gradient Newton Algorithms 353 8.2.3.1 Newton-AMBER 354 8.2.3.2 Newton-LMBER 354 8.2.4 Normalized Gradient Algorithms 354 8.2.4.1 Normalized-AMBER 355 8.2.4.2 Normalized-LMBER 355 8.2.5 Normalized Newton Gradient Algorithms 355 8.2.5.1 Normalized-Newton-AMBER 355 8.2.5.2 Normalized-Newton-LMBER 356 8.2.6 Block-Shanno MBER 356 8.3 MBER Simulation Results 360 8.3.1 BER Performance versus SNR 361 8.3.2 Convergence Rate Comparison 366 8.3.3 BER Performance versus Number of Subscribers 370 8.3.4 Computational Complexity 371 8.4 MBER Spatial MUD in MIMO/OFDM Systems 372 8.4.1 AMBER 375 8.4.2 LMBER 376 8.4.3 Gradient Newton Algorithms 376 8.4.3.1 Newton-AMBER 377 8.4.3.2 Newton-LMBER 377 8.4.4 Normalized Gradient Algorithms 377 8.4.4.1 Normalized-AMBER 378 8.4.4.2 Normalized-LMBER 378 8.4.5 Normalized Newton Gradient Algorithms 378 8.4.5.1 Normalized-Newton-AMBER 378 8.4.5.2 Normalized-Newton-LMBER 379 8.4.6 Block-Shanno MBER 379 8.5 MBER Simulation Results 381 8.5.1 Convergence Rate Comparison 382 8.5.2 BER Performance versus SNR 384 8.6 Summary 386 References 387 Index 395

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Book SynopsisIntroductory textbook in the important area of network security for undergraduate and graduate students Comprehensively covers fundamental concepts with newer topics such as electronic cash, bit-coin, P2P, SHA-3, E-voting, and Zigbee security Fully updated to reflect new developments in network security Introduces a chapter on Cloud security, a very popular and essential topic Uses everyday examples that most computer users experience to illustrate important principles and mechanisms Features a companion website with Powerpoint slides for lectures and solution manuals to selected exercise problems, available at http://www.cs.uml.edu/~wang/NetSec Table of ContentsPreface xv About the Authors xix 1 Network Security Overview 1 1.1 Mission and Definitions 1 1.2 Common Attacks and Defense Mechanisms 3 1.2.1 Eavesdropping 3 1.2.2 Cryptanalysis 4 1.2.3 Password Pilfering 5 1.2.4 Identity Spoofing 13 1.2.5 Buffer-Overflow Exploitations 16 1.2.6 Repudiation 18 1.2.7 Intrusion 19 1.2.8 Traffic Analysis 19 1.2.9 Denial of Service Attacks 20 1.2.10 Malicious Software 22 1.3 Attacker Profiles 25 1.3.1 Hackers 25 1.3.2 Script Kiddies 26 1.3.3 Cyber Spies 26 1.3.4 Vicious Employees 27 1.3.5 Cyber Terrorists 27 1.3.6 Hypothetical Attackers 27 1.4 Basic Security Model 27 1.5 Security Resources 29 1.5.1 CERT 29 1.5.2 SANS Institute 29 1.5.3 Microsoft Security 29 1.5.4 NTBugtraq 29 1.5.5 Common Vulnerabilities and Exposures 30 1.6 Closing Remarks 30 1.7 Exercises 30 1.7.1 Discussions 30 1.7.2 Homework 31 2 Data Encryption Algorithms 45 2.1 Data Encryption Algorithm Design Criteria 45 2.1.1 ASCII Code 46 2.1.2 XOR Encryption 46 2.1.3 Criteria of Data Encryptions 48 2.1.4 Implementation Criteria 50 2.2 Data Encryption Standard 50 2.2.1 Feistel’s Cipher Scheme 50 2.2.2 DES Subkeys 52 2.2.3 DES Substitution Boxes 54 2.2.4 DES Encryption 55 2.2.5 DES Decryption and Correctness Proof 57 2.2.6 DES Security Strength 58 2.3 Multiple DES 59 2.3.1 Triple-DES with Two Keys 59 2.3.2 2DES and 3DES/3 59 2.3.3 Meet-in-the-Middle Attacks on 2DES 60 2.4 Advanced Encryption Standard 61 2.4.1 AES Basic Structures 61 2.4.2 AES S-Boxes 63 2.4.3 AES-128 Round Keys 65 2.4.4 Add Round Keys 66 2.4.5 Substitute-Bytes 67 2.4.6 Shift-Rows 67 2.4.7 Mix-Columns 67 2.4.8 AES-128 Encryption 68 2.4.9 AES-128 Decryption and Correctness Proof 69 2.4.10 Galois Fields 70 2.4.11 Construction of the AES S-Box and Its Inverse 73 2.4.12 AES Security Strength 74 2.5 Standard Block Cipher Modes of Operations 74 2.5.1 Electronic-Codebook Mode 75 2.5.2 Cipher-Block-Chaining Mode 75 2.5.3 Cipher-Feedback Mode 75 2.5.4 Output-Feedback Mode 76 2.5.5 Counter Mode 76 2.6 Offset Codebook Mode of Operations 77 2.6.1 Basic Operations 77 2.6.2 OCB Encryption and Tag Generation 78 2.6.3 OCB Decryption and Tag Verification 79 2.7 Stream Ciphers 80 2.7.1 RC4 Stream Cipher 80 2.7.2 RC4 Security Weaknesses 81 2.8 Key Generations 83 2.8.1 ANSI X9.17 PRNG 83 2.8.2 BBS Pseudorandom Bit Generator 83 2.9 Closing Remarks 84 2.10 Exercises 85 2.10.1 Discussions 85 2.10.2 Homework 85 3 Public-Key Cryptography and Key Management 93 3.1 Concepts of Public-Key Cryptography 93 3.2 Elementary Concepts and Theorems in Number Theory 95 3.2.1 Modular Arithmetic and Congruence Relations 96 3.2.2 Modular Inverse 96 3.2.3 Primitive Roots 98 3.2.4 Fast Modular Exponentiation 98 3.2.5 Finding Large Prime Numbers 100 3.2.6 The Chinese Remainder Theorem 101 3.2.7 Finite Continued Fractions 102 3.3 Diffie-Hellman Key Exchange 103 3.3.1 Key Exchange Protocol 103 3.3.2 Man-in-the-Middle Attacks 104 3.3.3 Elgamal PKC 106 3.4 RSA Cryptosystem 106 3.4.1 RSA Key Pairs, Encryptions, and Decryptions 106 3.4.2 RSA Parameter Attacks 109 3.4.3 RSA Challenge Numbers 112 3.5 Elliptic-Curve Cryptography 113 3.5.1 Commutative Groups on Elliptic Curves 113 3.5.2 Discrete Elliptic Curves 115 3.5.3 ECC Encodings 116 3.5.4 ECC Encryption and Decryption 117 3.5.5 ECC Key Exchange 118 3.5.6 ECC Strength 118 3.6 Key Distributions and Management 118 3.6.1 Master Keys and Session Keys 119 3.6.2 Public-Key Certificates 119 3.6.3 CA Networks 120 3.6.4 Key Rings 121 3.7 Closing Remarks 123 3.8 Exercises 123 3.8.1 Discussions 123 3.8.2 Homework 124 4 Data Authentication 129 4.1 Cryptographic Hash Functions 129 4.1.1 Design Criteria of Cryptographic Hash Functions 130 4.1.2 Quest for Cryptographic Hash Functions 131 4.1.3 Basic Structure of Standard Hash Functions 132 4.1.4 SHA-512 132 4.1.5 WHIRLPOOL 135 4.1.6 SHA-3 Standard 139 4.2 Cryptographic Checksums 143 4.2.1 Exclusive-OR Cryptographic Checksums 143 4.2.2 Design Criteria of MAC Algorithms 144 4.2.3 Data Authentication Algorithm 144 4.3 HMAC 144 4.3.1 Design Criteria of HMAC 144 4.3.2 HMAC Algorithm 145 4.4 Birthday Attacks 145 4.4.1 Complexity of Breaking Strong Collision Resistance 146 4.4.2 Set Intersection Attack 147 4.5 Digital Signature Standard 149 4.5.1 Signing 149 4.5.2 Signature Verifying 150 4.5.3 Correctness Proof of Signature Verification 150 4.5.4 Security Strength of DSS 151 4.6 Dual Signatures and Electronic Transactions 151 4.6.1 Dual Signature Applications 152 4.6.2 Dual Signatures and Electronic Transactions 152 4.7 Blind Signatures and Electronic Cash 153 4.7.1 RSA Blind Signatures 153 4.7.2 Electronic Cash 154 4.7.3 Bitcoin 156 4.8 Closing Remarks 158 4.9 Exercises 158 4.9.1 Discussions 158 4.9.2 Homework 158 5 Network Security Protocols in Practice 165 5.1 Crypto Placements in Networks 165 5.1.1 Crypto Placement at the Application Layer 168 5.1.2 Crypto Placement at the Transport Layer 168 5.1.3 Crypto Placement at the Network Layer 168 5.1.4 Crypto Placement at the Data-Link Layer 169 5.1.5 Implementations of Crypto Algorithms 169 5.2 Public-Key Infrastructure 170 5.2.1 X.509 Public-Key Infrastructure 170 5.2.2 X.509 Certificate Formats 171 5.3 IPsec: A Security Protocol at the Network Layer 173 5.3.1 Security Association 173 5.3.2 Application Modes and Security Associations 174 5.3.3 AH Format 176 5.3.4 ESP Format 178 5.3.5 Secret Key Determination and Distribution 179 5.4 SSL/TLS: Security Protocols at the Transport Layer 183 5.4.1 SSL Handshake Protocol 184 5.4.2 SSL Record Protocol 187 5.5 PGP and S/MIME: Email Security Protocols 188 5.5.1 Basic Email Security Mechanisms 189 5.5.2 PGP 190 5.5.3 S/MIME 191 5.6 Kerberos: An Authentication Protocol 192 5.6.1 Basic Ideas 192 5.6.2 Single-Realm Kerberos 193 5.6.3 Multiple-Realm Kerberos 195 5.7 SSH: Security Protocols for Remote Logins 197 5.8 Electronic Voting Protocols 198 5.8.1 Interactive Proofs 198 5.8.2 Re-encryption Schemes 199 5.8.3 Threshold Cryptography 200 5.8.4 The Helios Voting Protocol 202 5.9 Closing Remarks 204 5.10 Exercises 204 5.10.1 Discussions 204 5.10.2 Homework 204 6 Wireless Network Security 211 6.1 Wireless Communications and 802.11 WLAN Standards 211 6.1.1 WLAN Architecture 212 6.1.2 802.11 Essentials 213 6.1.3 Wireless Security Vulnerabilities 214 6.2 Wired Equivalent Privacy 215 6.2.1 Device Authentication and Access Control 215 6.2.2 Data Integrity Check 215 6.2.3 LLC Frame Encryption 216 6.2.4 Security Flaws of WEP 218 6.3 Wi-Fi Protected Access 221 6.3.1 Device Authentication and Access Controls 221 6.3.2 TKIP Key Generations 222 6.3.3 TKIP Message Integrity Code 224 6.3.4 TKIP Key Mixing 226 6.3.5 WPA Encryption and Decryption 229 6.3.6 WPA Security Strength and Weaknesses 229 6.4 IEEE 802.11i/WPA2 230 6.4.1 Key Generations 231 6.4.2 CCMP Encryptions and MIC 231 6.4.3 802.11i Security Strength and Weaknesses 232 6.5 Bluetooth Security 233 6.5.1 Piconets 233 6.5.2 Secure Pairings 235 6.5.3 SAFER+ Block Ciphers 235 6.5.4 Bluetooth Algorithms E1, E21, and E22 238 6.5.5 Bluetooth Authentication 240 6.5.6 A PIN Cracking Attack 241 6.5.7 Bluetooth Secure Simple Pairing 242 6.6 ZigBee Security 243 6.6.1 Joining a Network 243 6.6.2 Authentication 244 6.6.3 Key Establishment 244 6.6.4 Communication Security 245 6.7 Wireless Mesh Network Security 245 6.7.1 Blackhole Attacks 247 6.7.2 Wormhole Attacks 247 6.7.3 Rushing Attacks 247 6.7.4 Route-Error-Injection Attacks 247 6.8 Closing Remarks 248 6.9 Exercises 248 6.9.1 Discussions 248 6.9.2 Homework 248 7 Cloud Security 253 7.1 The Cloud Service Models 253 7.1.1 The REST Architecture 254 7.1.2 Software-as-a-Service 254 7.1.3 Platform-as-a-Service 254 7.1.4 Infrastructure-as-a-Service 254 7.1.5 Storage-as-a-Service 255 7.2 Cloud Security Models 255 7.2.1 Trusted-Third-Party 255 7.2.2 Honest-but-Curious 255 7.2.3 Semi-Honest-but-Curious 255 7.3 Multiple Tenancy 256 7.3.1 Virtualization 256 7.3.2 Attacks 258 7.4 Access Control 258 7.4.1 Access Control in Trusted Clouds 259 7.4.2 Access Control in Untrusted Clouds 260 7.5 Coping with Untrusted Clouds 263 7.5.1 Proofs of Storage 264 7.5.2 Secure Multiparty Computation 265 7.5.3 Oblivious Random Access Machines 268 7.6 Searchable Encryption 271 7.6.1 Keyword Search 271 7.6.2 Phrase Search 274 7.6.3 Searchable Encryption Attacks 275 7.6.4 Searchable Symmetric Encryptions for the SHBC Clouds 276 7.7 Closing Remarks 280 7.8 Exercises 280 7.8.1 Discussions 280 7.8.2 Homework 280 8 Network Perimeter Security 283 8.1 General Firewall Framework 284 8.2 Packet Filters 285 8.2.1 Stateless Filtering 285 8.2.2 Stateful Filtering 287 8.3 Circuit Gateways 288 8.3.1 Basic Structures 288 8.3.2 SOCKS 290 8.4 Application Gateways 290 8.4.1 Cache Gateways 291 8.4.2 Stateful Packet Inspections 291 8.5 Trusted Systems and Bastion Hosts 291 8.5.1 Trusted Operating Systems 292 8.5.2 Bastion hosts and Gateways 293 8.6 Firewall Configurations 294 8.6.1 Single-Homed Bastion Host System 294 8.6.2 Dual-Homed Bastion Host System 294 8.6.3 Screened Subnets 296 8.6.4 Demilitarized Zones 297 8.6.5 Network Security Topology 297 8.7 Network Address Translations 298 8.7.1 Dynamic NAT 298 8.7.2 Virtual Local Area Networks 298 8.7.3 Small Office and Home Office Firewalls 299 8.8 Setting Up Firewalls 299 8.8.1 Security Policy 300 8.8.2 Building a Linux Stateless Packet Filter 300 8.9 Closing Remarks 301 8.10 Exercises 301 8.10.1 Discussions 301 8.10.2 Homework 302 9 Intrusion Detections 309 9.1 Basic Ideas of Intrusion Detection 309 9.1.1 Basic Methodology 310 9.1.2 Auditing 311 9.1.3 IDS Components 312 9.1.4 IDS Architecture 313 9.1.5 Intrusion Detection Policies 315 9.1.6 Unacceptable Behaviors 316 9.2 Network-Based Detections and Host-Based Detections 316 9.2.1 Network-Based Detections 317 9.2.2 Host-Based Detections 318 9.3 Signature Detections 319 9.3.1 Network Signatures 320 9.3.2 Host-Based Signatures 321 9.3.3 Outsider Behaviors and Insider Misuses 322 9.3.4 Signature Detection Systems 323 9.4 Statistical Analysis 324 9.4.1 Event Counter 324 9.4.2 Event Gauge 324 9.4.3 Event Timer 325 9.4.4 Resource Utilization 325 9.4.5 Statistical Techniques 325 9.5 Behavioral Data Forensics 325 9.5.1 Data Mining Techniques 326 9.5.2 A Behavioral Data Forensic Example 326 9.6 Honeypots 327 9.6.1 Types of Honeypots 327 9.6.2 Honeyd 328 9.6.3 MWCollect Projects 331 9.6.4 Honeynet Projects 331 9.7 Closing Remarks 331 9.8 Exercises 332 9.8.1 Discussions 332 9.8.2 Homework 332 10 The Art of Anti-Malicious Software 337 10.1 Viruses 337 10.1.1 Virus Types 338 10.1.2 Virus Infection Schemes 340 10.1.3 Virus Structures 341 10.1.4 Compressor Viruses 342 10.1.5 Virus Disseminations 343 10.1.6 Win32 Virus Infection Dissection 344 10.1.7 Virus Creation Toolkits 345 10.2 Worms 346 10.2.1 Common Worm Types 346 10.2.2 The Morris Worm 346 10.2.3 The Melissa Worm 347 10.2.4 The Code Red Worm 348 10.2.5 The Conficker Worm 348 10.2.6 Other Worms Targeted at Microsoft Products 349 10.2.7 Email Attachments 350 10.3 Trojans 351 10.3.1 Ransomware 353 10.4 Malware Defense 353 10.4.1 Standard Scanning Methods 354 10.4.2 Anti-Malicious-Software Products 354 10.4.3 Malware Emulator 355 10.5 Hoaxes 356 10.6 Peer-to-Peer Security 357 10.6.1 P2P Security Vulnerabilities 357 10.6.2 P2P Security Measures 359 10.6.3 Instant Messaging 359 10.6.4 Anonymous Networks 359 10.7 Web Security 360 10.7.1 Basic Types of Web Documents 361 10.7.2 Security of Web Documents 362 10.7.3 ActiveX 363 10.7.4 Cookies 364 10.7.5 Spyware 365 10.7.6 AJAX Security 365 10.7.7 Safe Web Surfing 367 10.8 Distributed Denial-of-Service Attacks 367 10.8.1 Master-Slave DDoS Attacks 367 10.8.2 Master-Slave-Reflector DDoS Attacks 367 10.8.3 DDoS Attacks Countermeasures 368 10.9 Closing Remarks 370 10.10 Exercises 370 10.10.1 Discussions 370 10.10.2 Homework 370 Appendix A 7-bit ASCII code 377 Appendix B SHA-512 Constants (in Hexadecimal) 379 Appendix C Data Compression Using ZIP 381 Exercise 382 Appendix D Base64 Encoding 383 Exercise 384 Appendix E Cracking WEP Keys Using WEPCrack 385 E.1 System Setup 385 AP 385 Trim Size: 170mm x 244mm Wang ftoc.tex V1 - 04/21/2015 10:14 P.M. Page xiv xiv Contents User’s Network Card 385 Attacker’s Network Card 386 E.2 Experiment Details 386 Step 1: Initial Setup 386 Step 2: Attacker Setup 387 Step 3: Collecting Weak Initialization Vectors 387 Step 4: Cracking 387 E.3 Sample Code 388 Appendix F Acronyms 393 Further Reading 399 Index 406

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Book SynopsisUnderstanding electromagnetic wave theory is pivotal in the design of antennas, microwave circuits, radars, and imaging systems. Researchers behind technology advances in these and other areas need to understand both the classical theory of electromagnetics as well as modern and emerging techniques of solving Maxwell''s equations. To this end, the book provides a graduate-level treatment of selected analytical and computational methods. The analytical methods include the separation of variables, perturbation theory, Green''s functions, geometrical optics, the geometrical theory of diffraction, physical optics, and the physical theory of diffraction. The numerical techniques include mode matching, the method of moments, and the finite element method. The analytical methods provide physical insights that are valuable in the design process and the invention of new devices. The numerical methods are more capable of treating general and complex structures. Together, they form a baTable of ContentsPreface xv Acknowledgements xvii 1 Background 1 1.1 Field Laws 1 1.2 Properties of Materials 2 1.3 Types of Currents 3 1.4 Capacitors, Inductors 4 1.5 Differential Form 6 1.6 Time-Harmonic Fields 8 1.7 Sufficient Conditions 9 1.8 Magnetic Currents, Duality 9 1.9 Poynting's Theorem 10 1.10 Lorentz Reciprocity Theorem 13 1.11 Friis and Radar Equations 14 1.12 Asymptotic Techniques 16 1.13 Further Reading 17 References 18 Problems 18 2 TEM Waves 21 2.1 Introduction 21 2.2 Plane Waves 22 2.3 Oblique Plane Waves 28 2.4 Plane Wave Reflection and Transmission 29 2.5 Multilayer Slab 36 2.6 Impedance Boundary Condition 38 2.7 Transmission Lines 44 2.8 Transverse Equivalent Network 60 2.9 Absorbers 62 2.10 Phase and Group Velocity 63 2.11 Further Reading 65 References 66 Problems 66 3 Waveguides 71 3.1 Separation of Variables 71 3.2 Rectangular Waveguide 73 3.3 Cylindrical Waves 80 3.4 Circular Waveguide 81 3.5 Waveguide Excitation 84 3.6 2D Waveguides 85 3.7 Transverse Resonance Method 94 3.8 Other Waveguide Types 98 3.9 Waveguide Discontinuities 101 3.10 Mode Matching 107 3.11 Waveguide Cavity 114 3.12 Perturbation Method 121 3.13 Further Reading 127 References 127 Problems 127 4 Potentials, Concepts, and Theorems 135 4.1 Vector Potentials A and F 135 4.2 Hertz Potentials 140 4.3 Vector Potentials and Boundary Conditions 141 4.4 Uniqueness Theorem 148 4.5 Radiation Condition 151 4.6 Image Theory 151 4.7 Physical Optics 153 4.8 Surface Equivalent 154 4.9 Love’s Equivalent 158 4.10 Induction Equivalent 161 4.11 Volume Equivalent 162 4.12 Radiation by Planar Sources 164 4.13 2D Sources and Fields 165 4.14 Derivation of Vector Potential Integral 168 4.15 Solution Without Using Potentials 170 4.16 Further Reading 171 References 171 Problems 172 5 Canonical Problems 177 5.1 Cylinder 177 5.2 Wedge 184 5.3 The Relation Between 2D and 3D Solutions 188 5.4 Spherical Waves 192 5.5 Method of Stationary Phase 199 5.6 Further Reading 201 References 202 Problems 202 6 Method of Moments 209 6.1 Introduction 209 6.2 General Concepts 209 6.3 2D Conducting Strip 212 6.4 2D Thin Wire MoM 220 6.5 Periodic 2D Wire Array 224 6.6 3D Thin Wire MoM 228 6.7 EFIE and MFIE 234 6.8 Internal Resonances 236 6.9 PMCHWT Formulation 237 6.10 Basis Functions 238 6.11 Further Reading 240 References 240 Problems 241 7 Finite Element Method 245 7.1 Introduction 245 7.2 Laplace’s Equation 246 7.3 Piecewise-planar Potential 246 7.4 Stored Energy 248 7.5 Connection of Elements 248 7.6 Energy Minimization 250 7.7 Natural Boundary Conditions 252 7.8 Capacitance, Inductance 255 7.9 Computer Program 257 7.10 Poisson’s Equation 258 7.11 Scalar Wave Equation 262 7.12 Galerkin’s Method 266 7.13 Vector Wave Equation 270 7.14 Other Element Types 270 7.15 Radiating Structures 274 7.16 Further Reading 278 References 278 Problems 278 8 Uniform Theory of Diffraction 283 8.1 Fermat’s Principle 283 8.2 2D Fields 284 8.3 Scattering and GTD 292 8.4 3D Fields 294 8.5 Curved Surface Reflection 306 8.6 Curved Wedge Face 308 8.7 Non-Metallic Wedge 308 8.8 Slope Diffraction 309 8.9 Double Diffraction 310 8.10 GTD Equivalent Edge Currents 311 8.11 Surface-Ray Diffraction 315 8.12 Further Reading 324 References 325 Problems 326 9 Physical Theory of Diffraction 337 9.1 PO and an Edge 337 9.2 Asymptotic Evaluation 338 9.3 Reflector Antenna 344 9.4 RCS of a Disc 347 9.5 PTD Equivalent Edge Currents 351 9.6 Further Reading 351 References 352 Problems 352 10 Scalar and Dyadic Green’s Functions 355 10.1 Impulse Response 355 10.2 Green’s Function for A 357 10.3 2D Field Solutions Using Green’s Functions 358 10.4 3D Dyadic Green’s Functions 362 10.5 Some Dyadic Identities 363 10.6 Solution Using a Dyadic Green’s Function 364 10.7 Symmetry Property of G 365 10.8 Interpretation of the Radiation Integrals 367 10.9 Free Space Dyadic Green’s Function 367 10.10Dyadic Green’s Function Singularity 368 10.11Dielectric Rod 370 10.12Further Reading 372 References 372 Problems 372 11 Green’s Functions Construction I 375 11.1 Sturm Liouville Problem 375 11.2 Green’s Second Identity 376 11.3 Hermitian Property 376 11.4 Particular Solution 377 11.5 Properties of the Green’s Function 377 11.6 UT Method 378 11.7 Discrete and Continuous Spectra 382 11.8 Generalized Separation of Variables 388 11.9 Further Reading 396 References 396 Problems 396 12 Green’s Functions Construction II 401 12.1 Sommerfeld Integrals 401 12.2 The Function k(v) = √k2−ν2 402 12.3 The Transformation v= k sin w 405 12.4 Saddle Point Method 406 12.5 SDP Branch Cuts 415 12.6 Grounded Dielectric Slab 417 12.7 Half Space 426 12.8 Circular Cylinder 435 12.9 Strip Grating on a Dielectric Slab 443 12.10Further Reading 455 References 456 Problems 456 Appendix A Constants and Formulas 461 A.1 Constants 461 A.2 Definitions 461 A.3 Trigonometry 462 A.4 The Impulse Function 462 References 463 B Coordinates and Vector Calculus 465 B.1 Coordinate Transformations 466 B.2 Volume and Surface Elements 466 B.3 Vector Derivatives 468 B.4 Vector Identities 469 B.5 Integral Relations 470 References 472 C Bessel’s Differential Equation 473 C.1 Bessel Functions 473 C.2 Roots of H(1,2)νp(x)=0 476 C.3 Integrals 476 C.4 Orthogonality 477 C.5 Recursion Relations 477 C.6 Gamma Function 478 C.7 Wronskians 478 C.8 Spherical Bessel Functions 479 References 480 D Legendre’s Differential Equation 481 D.1 Legendre Functions 481 D.2 Associated Legendre Functions 482 D.3 Orthogonality 482 D.4 Recursion Relations 483 D.5 Spherical Form 483 References 483 E Complex Variables 485 E.1 Residue Calculus 485 E.2 Branch Cuts 486 References 487 F Compilers and Programming 489 F.1 Getting Started 489 F.2 Fortran 90 491 F.3 More on the OS 499 F.4 Plotting 501 F.5 Further Reading 502 References 502 G Numerical Methods 503 G.1 Numerical Integration 503 G.2 Root Finding 507 G.3 Matrix Equations 509 G.4 Matrix Eigenvalues 510 G.5 Bessel Functions 511 G.6 Legendre Polynomials 511 References 512 H Software Provided 513 Index 515

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Book SynopsisPractical Field Robotics: A Systems Approach is an introductory book in the area of field robotics. It approaches the subject with a systems design methodology, showing the reader every important decision made in the process of planning, designing, making and testing a field robot. Key features: Takes a practical approach to field robotics, presenting the design and implementation of a robot from start to end Provides multiple robot examples including those used in in nuclear service, underground coalmining and mowing Bridges the gap between existing mathematically based texts and the real work that goes on in research labs all over the world Establishes a structured approach to thinking about hardware and software design Includes problems and is accompanied by a website providing supporting videos and additional problemsTable of ContentsPreface ix 1 Overview of Field Robotics 1 1.1 Introduction 1 1.2 Methodology 3 1.3 High-Level Decisions 3 Problems 4 Notes 4 2 A Mobile Robot System for Nuclear Service 7 2.1 Field Environment: Commercial Nuclear Plants 7 2.2 Field Work: Component Maintenance 8 2.3 Equipment Requirements 9 2.4 Conceptual and Operational Designs 12 2.5 Safety and Reliability 19 2.6 Detail Designs of the Service Arm 20 2.7 Detail Designs of the Walker 20 2.8 Conclusion 21 Problems 21 Notes 22 3 The Largest Mobile Robot in the World 23 3.1 Field Environment: Underground Mining 23 3.2 Field Work: Continuous Coal Haulage 25 3.3 Equipment Requirements 26 3.4 Conceptual and Operational Designs 29 3.5 Safety and Reliability 30 3.6 Detail Conceptual Designs 30 3.7 Conclusion 31 Problems 31 Note 31 4 A Mobile Robot for Mowing a Lawn 33 4.1 Field Environment: Suburban Lawns 33 4.2 Field Work: Navigation and Mowing 34 4.3 Equipment Requirements 34 4.4 Conceptual and Operational Designs 35 4.5 Safety and Reliability 37 4.6 Detail Conceptual Designs 37 4.7 High-Level Decisions 37 4.8 Conceptual Design—Technologies 38 4.9 Conceptual Design—Set Parameters 40 4.10 Conceptual Design—Operate Robot 42 Problems 42 Notes 43 5 The Next Levels of Functional Detail 45 5.1 Quantifying Conceptual Design 45 5.2 Quantifying Send Sound 46 5.3 Quantifying Receive Sound 53 5.4 Quantifying Interpret Sound 56 5.5 Design Choices—Setting Parameters 65 5.6 Select a Platform 66 5.7 Select Frequencies 68 5.8 Select Motions 70 Problems 72 Notes 72 6 Operate Robot 73 6.1 Control System 75 6.2 Control System Select Operation 76 6.3 All About main() 78 6.4 Control System—Control Motions 79 6.5 Control Motions—Rotate Motors 81 6.6 Control Motions—Design Infrastructure 83 6.7 Control Motions—Program Speeds 88 6.8 Control Motions—Move Robot 89 6.9 Control Motions—Sequence Motions 92 6.10 Control Information 92 Problems 102 Notes 103 7 Software Functions 105 7.1 Displays: To Place Needed Information to the User Screen 107 7.2 Field Data and Triangulation: Geometric Locating Functions 109 7.3 Operation: The Calls that Make the Robot Move and Stop 121 7.4 History and Diagnostics: The Immediate Past Used for Analysis 130 Problems 136 Note 137 Appendix A: Myth and Creativity in Conceptual Design 139 Appendix B: Real-World Automation Control through the USB Interface 159 Appendix C: Microchip Code for USB Board to PPM Translation 173 Appendix D: Selected Electronic Parts for Mowing Robot 179 Appendix E: Software Concordance 181 Appendix F: Solutions 187 Index 197

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Book SynopsisBuilding an Effective Security Program for Distributed Energy Resources and Systems Build a critical and effective security program for DERsBuilding an Effective Security Program for Distributed Energy Resources and Systems requires a unified approach to establishing a critical security program for DER systems and Smart Grid applications. The methodology provided integrates systems security engineering principles, techniques, standards, and best practices. This publication introduces engineers on the design, implementation, and maintenance of a security program for distributed energy resources (DERs), smart grid, and industrial control systems. It provides security professionals with understanding the specific requirements of industrial control systems and real-time constrained applications for power systems. This book:Describes the cybersecurity needs for DERs and power grid as critical infrastructureIntroduces the information security principles to assess and manage the security anTable of ContentsPart I Understanding Security and Privacy Problem 1 Security 1.1 Introduction 1.2 Smart Grid 1.2.1 Traditional Power Grid Architecture 1.2.2 Smart Grid Definitions 1.2.3 Drivers for Change 1.2.4 Smart Grid Communication Infrastructure 1.3 Distributed Energy Resources 1.3.1 DER Characteristics 1.3.2 DER Uses 1.3.3 DER Systems 1.3.4 Microgrid 1.3.5 Virtual Power Plant 1.4 Scope of Security and Privacy 1.4.1 Security for the Smart Grid 1.4.2 Privacy 1.4.3 The Need for Security and Privacy 1.5 Computing and Information Systems for Business and Industrial Applications 1.5.1 Information Systems Classification 1.5.2 Information Systems in Power Grids 1.5.3 DER Information Systems 1.6 Integrated Systems in a Smart Grid 1.6.1 Trends 1.6.2 Characteristics 1.7 Critical Smart Grid Systems 1.7.1 Industrial Control Systems 1.7.2 SCADA Systems 1.7.3 Energy Management Systems 1.7.4 Advanced Meter Systems 1.8 Standards, Guidelines, and Recommendations 1.8.1 Overview of Various Standards 1.8.2 Key Standard Attributes and Conformance 1.8.3 Smart Grid Standards 1.8.3.1 Key Players in Smart Grid Standards Development 1.8.3.2 How to Use Standards 1.8.4 Cybersecurity Standards 2 Advancing Security 2.1 Emerging Technologies 2.1.1 Internet of Things 2.1.1.1 Characteristics of Objects 2.1.1.2 Technologies 2.1.1.3 IoT Applications 2.1.1.4 IoT Security and Privacy 2.1.1.5 Challenges 2.1.2 Internet of Everything (IoE) 2.1.3 Cyber-Physical Systems 2.1.4 Cyber-Physical Systems Applications 2.2 Cybersecurity 2.2.1 Cybersecurity Definitions 2.2.2 Understanding Cybersecurity Terms 2.2.3 Cybersecurity Evolution 2.3 Advancing Cybersecurity 2.3.1 Contributing Factors to Cybersecurity Success 2.3.2 Advancing Cybersecurity and Privacy Design 2.4 Smart Grid Cybersecurity: A Perspective on Comprehensive Characterization 2.4.1 Forces Shaping Cybersecurity 2.4.2 Smart Grid Trends 2.5 Security as a Personal, Organizational, National, and Global Priority 2.5.1 Security as Personal Priority 2.5.2 Protection of Private Information 2.5.3 Protecting Cyberspace as a National Asset 2.6 Cybersecurity for Electrical Sector as a National Priority 2.6.1 Need for Cybersecurity Solutions 2.6.2 The US Plans 2.7 The Need for Security and Privacy Programs 2.7.1 Security Program 2.7.2 Privacy Program 2.8 Standards, Guidelines, and Recommendations 2.8.1 Electricity Sector Guidance 2.8.2 International Collaboration References-Part1 Part II Applying Security Principles to Smart Grid 3 Principles of Cybersecurity 3.1 Introduction 3.2 Information Security 3.2.1 Terminology 3.2.2 Information Security Components 3.2.3 Security Principles 3.3 Security Related Concepts 3.3.1 Basic Security Concepts 3.3.2 The Basis for Security 3.4 Characteristics of Information 3.4.1 Data Transformation 3.4.2 Data Characteristics 3.4.3 Data Quality 3.4.4 Information Quality 3.4.5 System Quality 3.4.6 Data Quality Characteristics Assigned to Systems 3.5 Information Systems Characteristics 3.5.1 Software Quality 3.5.2 System Quality Attributes 3.6 Critical Information Systems 3.6.1 Critical Systems Characteristics 3.6.2 Information Life Cycle 3.6.3 Information Assurance 3.6.4 Critical Security Characteristics of Information 3.7 Information Security Models 3.7.1 Evolving Models 3.7.2 RMIAS Model 3.7.3 Information Security Goals 3.8 Standards, Guidelines, and Recommendations 3.8.1 SGIP Catalog of Standards 3.8.2 Cybersecurity Standards for Smart Grid 4 Applying Security Principles to Smart Grid 4.1 Smart Grid Security Goals 4.2 DERs Information Security Characteristics 4.2.1 Information Classification 4.2.2 Information Classification Levels 4.2.3 Information Evaluation Criteria 4.3 Infrastructure 4.3.1 Information Infrastructure 4.3.2 Information Assurance Infrastructure 4.3.3 Information Management Infrastructure 4.3.4 Outsourced Services 4.3.5 Information Security Management Infrastructure 4.3.6 Cloud Infrastructure 4.4 Smart Grid Infrastructure 4.4.1 Hierarchical Structures 4.4.2 Smart Grid Needs 4.4.3 Cyber Infrastructure 4.4.4 Smart Grid Technologies 4.5 Building an Information Infrastructure for Smart Grid 4.5.1 Various Perspectives 4.5.2 Challenges and Relevant Approaches 4.5.3 Common Employed Infrastructures 4.6 IT Systems versus Industrial Control Systems Infrastructure 4.6.1 Industrial Control Systems General Concepts 4.6.2 Supervisory Control and Data Acquisition Systems (SCADA) 4.6.3 Differences and Similarities 4.7 Convergence Trends 4.8 Standards, Guidelines, and Recommendations 5 Planning Security Protection 5.1 Threats and Vulnerabilities 5.1.1 Threats Characterization 5.1.2 Vulnerabilities Characteristics 5.2 Attacks 5.2.1 Attacks Categories 5.2.2 Reasons for Attack 5.3 Energy Sector: Threats, Vulnerabilities, and Attacks Overview 5.3.1 Threats 5.3.2 Vulnerabilities 5.3.3 Energy Sector Attacks 5.3.4 Smart Grid Cybersecurity Challenges 5.4 Security Controls 5.4.1 Security Controls Categories 5.4.2 Common Security Controls 5.4.3 Applying Security Controls to Smart Grid 5.5 Security Training and Skills 5.5.1 Education, Training, and Awareness 5.5.2 Security Awareness Program 5.6 Planning for Security and Privacy 5.6.1 Plan Structure 5.6.2 Security Team 5.7 Legal and Ethical Issues 5.8 Standards, Guidelines, and Recommendations References-Part2 Part III Security of Critical Infrastructure 6 Critical Infrastructure 6.1 Introduction 6.1.1 Critical Infrastructure 6.1.2 Critical Information Infrastructure 6.2 Associated Industries with Critical Infrastructure 6.2.1 US Critical Sectors 6.2.2 Other Countries 6.3 Critical Infrastructure Components 6.4 Energy Sector 6.4.1 Electrical Subsector 6.4.2 Smart Grid Infrastructure 6.5 Critical Infrastructures Interdependencies 6.5.1 Interdependency Dimensions 6.5.2 Dependencies 6.6 Electrical Power System 6.6.1 Electrical Power System Components 6.6.2 Electrical Power System Evolution and Challenges 6.6.3 Needs 6.7 Recent Threats and Vulnerabilities 6.7.1 Reported Cyber Attacks 6.7.2 ICS/SCADA Incidents and Challenges 6.7.2.1 Stuxnet Exploitation 6.7.2.2 Exposure to Post Stuxnet Malware in Rise 6.7.2.3 Inappropriate Design and Lack of Management 6.7.2.4 Safety 6.7.3 Equipment Failure 6.8 Standards, Guidelines, and Recommendations 7 Critical Infrastructure Protection 7.1 Critical Infrastructure Attacks and Challenges 7.1.1 Power Grid 7.1.2 Attacks on Information Technology and Telecommunications 7.1.3 Attacks in Manufacturing 7.1.4 Defense 7.2 The Internet as a Critical Infrastructure 7.3 Critical Infrastructure Protection 7.3.1 Policies, Laws, and Regulations 7.3.2 Protection Issues 7.4 Information Security Frameworks 7.4.1 NIST Cybersecurity Framework 7.4.2 NIST Updated Cybersecurity Framework 7.4.3 Generic Framework 7.5 NIST Privacy Framework 7.6 Addressing Security of Control Systems 7.6.1 Challenges 7.6.2 Terrorism Challenges 7.7 Emerging Technologies and Impacts 7.7.1 Control Systems Open to Internet 7.7.2 Wireless and Mobile 7.7.3 Internet of Things and Internet of Everything 7.7.4 WEB Technologies 7.7.5 Embedded Systems 7.7.6 Cloud Computing 7.8 Standards, Guidelines, and Recommendations 7.8.1 Department of Homeland Security (DHS) 7.8.2 Federal Communications Commission (FCC) 7.8.3 National Institute of Standards and Technology (NIST) 7.8.4 North American Energy Reliability Corporation (NERC) 7.8.5 Federal Regulatory Energy Commission 7.8.6 DOE Critical Infrastructure Guidance 7.8.7 US-CERT References-Part3 Part IV The Characteristics of Smart Grid and DER Systems 8 Smart Power Grid 8.1 Electric Power System 8.1.1 Power System Services 8.1.2 Power System Operations 8.1.3 Energy Management System Overview 8.1.4 Electrical Utilities Evolution 8.2 Smart Grid – What it Is? 8.2.1 Definitions 8.2.2 Vision of the Future Smart Grid 8.2.3 Tomorrow’s Utility 8.2.4 EMS Upgrades 8.2.5 Electricity Trade 8.2.6 Trading Capabilities 8.3 Smart Grid Characteristics 8.3.1 Relevant Characteristics 8.3.2 Electrical Infrastructure Evolution 8.4 Smart Grid Conceptual Models 8.4.1 NIST Conceptual Model 8.4.2 IEEE Model 8.4.3 European Conceptual Model 8.5 Power and Smart Devices 8.5.1 Smart Meters 8.5.2 Intelligent Electronic Devices 8.5.3 Phasor Measurement Units 8.5.4 Intelligent Universal Transformers 8.6 Examples of Key Technologies and Solutions 8.6.1 Communications Networks 8.6.2 Integrated Communications 8.6.3 Sensor Networks 8.6.4 Infrastructure for Transmission and Substations 8.6.5 Wireless Technologies 8.6.6 Advanced Metering Infrastructure 8.7 Networking Challenges 8.7.1 Architecture 8.7.2 Protocols 8.7.2 Constraints 8.8 Standards, Guidelines, and Recommendations 8.8.1 Smart Grid Interoperability 8.8.2 Representative Standards 9 Power Systems Characteristics 9.1 Analysis of Power Systems 9.1.1 Analysis of Basic Characteristics 9.1.2 Stability 9.1.3 Partial Stability 9.2 Analysis of Impacts 9.2.1 DERs Impacts 9.2.2 Interconnectivity 9.3 Reliability 9.3.1 Reliable System Characteristics 9.3.2 Addressing Reliability 9.3.3 Evaluating Reliability 9.3.4 ICT Reliability Issues 9.3.5 DERs Impacts 9.4 Resiliency 9.4.1 Increasing Resiliency 9.4.2 DERs Opportunities 9.5 Addressing Various Issues 9.5.1 Addressing Cybersecurity 9.5.2 Cyber-Physical System 9.5.3 Cyber-Physical Resilience 9.5.4 Related Characteristics, Relationships, Differences and Similarities 9.6 Power Systems Interoperability 9.6.1 Interoperability Dimensions 9.6.2 Smart Grid Interoperability 9.6.3 Interoperability Framework 9.6.6 Addressing Cross-Cutting Issues 9.7 Smart Grid Interoperability Challenges 9.8 Standards, Guidelines, and Recommendations 9.8.1 ISO/IEC Standards 9.8.2 IEEE Standards 10 Distributed Energy Systems 10.1 Introduction 10.1.1 Distributed Energy 10.2 Distributed Energy Resources 10.2.1 Energy Storage Technologies 10.2.2 Electric Vehicles 10.2.3 Distributed Energy Resource Systems 10.2.4 Electrical Energy Storage Systems 10.2.5 Virtual Power Plant 10.3 DER Applications and Security 10.3.1 Energy Storage Applications 10.3.2 Microgrid 10.4 Smart Grid Security Goals 10.4.1 Cybersecurity 10.4.2 Reliability and Security 10.4.3 DER Security Challenges 10.5 Security Governance in Energy Industry 10.5.1 Security Governance Overview 10.5.2 Information Governance 10.5.3 EAC Recommendations 10.5.4 Establishing Information Security Governance 10.5.5 Governance for Building Security In 10.6 What Kind of Threats and Vulnerabilities? 10.6.1 Threats 10.6.2 Reported Cyber Incidents 10.6.3 Vulnerabilities 10.6.4 ICS Reported Vulnerabilities 10.6.5 Addressing Privacy Issues 10.7 Examples of Smart Grid Applications 10.7.1 Smart Grid Expectations 10.7.2 Demand Response Management Systems (DRMS) 10.7.3 Distribution Automation 10.7.4 Advanced Distribution Management System 10.7.5 Smart Home 10.7.6 Smart Microgrid 10.8 Standards, Guidelines, and Recommendations 10.8.1 NIST Roadmap, Standards, and Guidelines 10.8.2 NERC CIP Standards 10.8.3 Security Standards Governance References-Part4 Part V Security Program Management 11 Security Management 11.1 Security Management Overview 11.1.1 Information Security 11.1.2 Security Management Components 11.1.3 Management Tasks 11.2 Security Program 11.2.1 Security Program Functions 11.2.2 Building a Security Program: Which Approach? 11.2.3 Security Management Process 11.3 Asset Management 11.3.1 Asset Management for Power System 11.3.2 Asset Management Perspectives 11.3.3 Benefits of Asset Management 11.3.3.1 DER Assets Classification 11.3.3.2 DER Asset Data 11.3.3.3 Asset Management Analytics 11.3.3.4 Applications 11.3.3.5 Asset Management Metrics 11.3.3.6 Asset Management Services 11.4 Physical Security and Safety 11.4.1 Physical Security Measures 11.4.2 Physical Security Evolution 11.4.3 Human Resources and Public Safety 11.5 Human and Technology Relationship 11.5.1 Use Impacts 11.5.2 DER Systems Challenges 11.5.3 Security vs. Safety 11.6 Information Security Management 11.6.1 Information Security Management Infrastructure 11.6.2 Enterprise Security Model 11.6.3 Cycle of the Continuous Information Security Process 11.6.4 Information Security Process for Smart Grid 11.6.5 Systems Engineering and Processes 11.7 Models and Frameworks for Information Security Management 11.7.1 ISMS Models 11.7.2 Information Security Management Maturity Model (ISM3) Model 11.7.3 BMIS Model 11.7.4 Systems Security Engineering - Capability Maturity Model (SSE-CMM) 11.7.5 Standard of Good Practice (SoGP) 11.7.6 Examples of Other Frameworks 11.7.7 Combining Models, Frameworks, Standards, and Best Practices 11.8 Standards, Guidelines, and Recommendations 12 Security Management for Smart Grid Systems 12.1 Strategic, Tactical, and Operational Security Management 12.1.1 Unified View of Smart Grid Systems 12.1.2 Organizational Security Model 12.2 Security as Business Issue 12.2.1 Strategic Management 12.2.2 Tactical Management 12.2.3 Operational Management 12.3 Systemic Security Management 12.3.1 Comparison and Discussion of Models 12.3.2 Efficient and Effective Management Solutions 12.3.3 Means for Improvement 12.4 Security Model for Electrical Sector 12.4.1 Electricity Subsector Cybersecurity Capability Maturity Model (ES-C2M2) 12.4.2 Which Guidance and Recommendations Apply to Electrical Sector? 12.4.3 Implementing ISMS 12.4.4 NIST Framework 12.4.5 Blueprints 12.4.6 Control Systems 12.5 Achieving Security Governance 12.5.1 Security Strategy Principles 12.5.2 Governance Definitions and Developments 12.5.3 Information Security Governance 12.5.4 Implementation Challenges 12.5.5 Responsibilities and Roles 12.5.6 Governance Model 12.6 Ensuring Information Assurance 12.6.1 NIST SP800-55 12.6.2 ISO/IEC 27004 12.7 Certification and Accreditation 12.7.1 Common Criteria 12.7.2 ISO/IEC 27001 12.7.3 ISMS Accreditation 12.8 Standards, Guidelines, and Recommendations 12.8.1 ISO/IEC Standards 12.8.2 ISA Standards 12.8.3 National Institute of Standards and Technology (NIST) 12.8.4 Internet Engineering Task Force (IETF) 12.8.5 ISF Standards 12.8.6 European Union Agency for Network and Information Security Guidelines 12.8.7 Information Assurance for Small Medium Enterprise (IASME) References-Part5 Appendix A Cybersecurity Appendix B Power Appendix C Critical Infrastructures and Energy Infrastructure Appendix D Smart Grid – Policy, Concepts, and Technologies Appendix J Acronyms Index

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Book SynopsisIn-depth and systemic examination of distribution automation with specific focus on fault location and service restoration Focuses on the detailed and systemic examination of fault location and service restoration in distribution gridArms the readers with a complete picture of what fault location and service restoration is from both theoretical and practical perspectivesPresents the authors' research on fault location and restoration for distribution systems since 1995Introduces the first-hand application experience obtained from over 30 DAS (Distribution Automation System) projects in ChinaExamines the protection approaches of electrical distribution networks automation and on relevant mechanisms associated to electrical supply restoration after (local) blackoutsTable of ContentsAbout the Authors ix Preface xi 1 Progresses and Prospects for Fault Processing in Distribution Grids 1Liu Jian 1.1 Introduction 1 1.2 Progresses in Local Intelligence-Based Fault Processing 3 1.3 Progresses in Distributed Intelligence-Based Fault Processing 3 1.4 Progresses in Centralized Intelligence-Based Fault Processing 4 1.4.1 Fault Location 5 1.4.2 Fault Isolation and Service Restoration 5 1.5 Progresses in Single]Phase Grounding Fault Processing 6 1.6 Prospects 7 2 Fault Processing Based on Local Intelligence 9Tong Xiangqian and Liu Jian 2.1 Introduction 9 2.2 Fault Processing Based on Local Intelligence for Distribution Networks 10 2.2.1 Auto-Reclosure Control 10 2.2.2 Automatic Backup Switching Control of the Reserve Source 11 2.2.3 Voltage Protection 13 2.2.4 Three-Section Over-Current Protection 14 2.2.5 Coordination between Current Protection Relaying and Auto-Reclosure 22 2.2.6 Directional Over-Current Protection 23 2.2.7 Longitudinal Current Differential Protection 25 2.2.8 The Second Harmonic Braking Criterion in Current Protection 28 2.3 Fault Protection of the Active Distribution Network 32 2.3.1 The Influence of Distributed Generation on Current Protection and the Adaptive Improvement of Protection 32 2.3.2 Influence of Distributed Generation on Auto]Reclosure and its Adaptive Improvements 38 2.3.3 Longitudinal Current Differential Protection of DG Connected Distribution Networks 40 2.4 Coordination of Multistage Protection in the Distribution Network 41 2.4.1 Time Difference Based Coordination of Multistage Protection in the Distribution Network 42 2.4.2 The Coordination of Multistage Protection Based on Three]Section Over]Current Protection in the Distribution Network 50 2.4.3 Coordination Modes and Setting Methods of Multistage Protection of Distribution Networks 58 2.4.4 Example Analysis 68 2.5 Summary 71 3 Fault Processing Based on Distributed Intelligence 73Liu Jian, Xu Shiming and Chen Xingying 3.1 Introduction 73 3.2 FA based on Recloser and Voltage-Delay Type Sectionalizers 74 3.3 Reclosing with the Fast Over-Current Protection Mode 78 3.3.1 Basic Principle 78 3.3.2 Improvements 80 3.4 Fast Healing Approach based on Neighbor Communication 82 3.4.1 Basic Principle 82 3.4.2 Improvements 85 3.5 Conclusion and Summary 88 4 Fault Processing Based on Centralized Intelligence 89Liu Jian and Chen Xingying 4.1 Introduction 89 4.2 Simplified Modeling of Distribution Grids 92 4.2.1 Distribution Network Structure 92 4.2.2 Simplified Load Flow Analysis 98 4.3 Interphase Short Circuit Fault Location 103 4.3.1 Fault Location with Sufficient Information 103 4.3.2 Fault Location with Insufficient Information 111 4.3.3 Fault Location for Distribution Grids with DGs 117 4.4 Fault Isolation and Service Restoration 132 4.4.1 Fault Isolation 133 4.4.2 Service Restoration 135 4.4.3 Modeled Service Restoration 152 4.4.4 Coordination of the Four Types of Service Restoration 159 4.5 Conclusion and Summary 161 5 Single Phase to Ground Fault Processing 163Dong Xinzhou and Shi Shenxing 5.1 Types of Ground Fault and Protection Strategy 164 5.1.1 The Neutral Grounding Mode and Ground Fault Types 164 5.1.2 The Protection Strategies for Different Types of Ground Faults 167 5.2 Detection of High Resistance Ground Faults in Low Resistance Grounded Systems 168 5.2.1 High Resistance Ground Faults 168 5.2.2 Zero Sequence Inverse-Time Overcurrent Protection 169 5.2.3 Grounded Protection based on the Amplitude and Phase of the Third Harmonic Current 170 5.3 Grounding Protection in the System with Neutral Isolated 174 5.3.1 Characteristics of Single-Phase-to-Ground Faults in Systems with Neutral Isolated 174 5.3.2 Single-Phase-to-Ground Protection in Grids with Neutral Isolated 179 5.4 Grounding Protection in the System with Neutral Grounded Through an Arc Suppression Coil 180 5.4.1 Characteristics of Single-Phase-to-Ground Faults in Systems with Neutral Grounded through an Arc Suppression Coil 181 5.4.2 Single-Phase-to-Ground Protection in Systems with Neutral Grounded through an Arc Suppression Coil 185 5.5 Single-Phase-to-Ground Fault Feeder Selection Technology in a Power Distribution System with Neutral Non-Effectively Grounded 186 5.5.1 Comparison of Magnitude and Phase based Single-Phase-to-Ground Fault Feeder Selection Methods 187 5.5.2 Characteristics of Single-Phase-to-Ground Fault Generated Current Traveling Waves 187 5.5.3 Current Traveling Wave-based Fault Feeder Selection Method 194 5.6 Prevention of and Protection from Single]Phase]to]Ground Faults in Power Distribution Systems with Neutral Non-Effectively Grounded 195 5.6.1 Basic Principle of Single-Phase-to-Ground Fault Prevention 195 5.6.2 Single-Phase-to-Ground Fault Prevention Technology 196 5.7 Single-Phase-to-Ground Fault Location in Systems with Neutral Non]Effectively Grounded 198 5.7.1 Single-Phase-to-Ground Fault Generated Initial Traveling Waves 198 5.7.2 Single-Phase-to-Ground Fault Location Method based on Propagation Speed of Traveling Waves 202 5.8 Conclusion and Summary 203 6 Practical Aspects of Fault Processing 204Liu Jian and Zhang Xiaoqing 6.1 Introduction 204 6.2 Coordination of Fault Processing Approaches 205 6.2.1 Fault Processing Performance of Various Methodologies 205 6.3 Planning of Terminal Units 214 6.3.1 Elements Affecting the Reliability of Service 214 6.3.2 Cost-Benefit Analysis of Action Node Planning 215 6.3.3 Planning the Amount of Terminal Units to Meet the Requirement of Service Reliability 217 6.4 Verification of the Property of Fault Processing 226 6.4.1 Master Injection Testing Methodology and the Testing Tool 227 6.4.2 Secondary Synchronous Injection Testing Methodology and Testing Facilities 231 6.4.3 Master and Secondary Synchronous Injection Testing Methodology 232 6.4.4 Direct Short-Circuit Test 234 6.4.5 Comparison of the Four Testing Methodologies 235 6.5 Conclusion and Summary 235 References 238 Index 242

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Book SynopsisThis book introduces theoretical concepts to explain the fundamentals of the design and evaluation of software estimation models. It provides software professionals with vital information on the best software management software out there. End-of-chapter exercises Over 100 figures illustrating the concepts presented throughout the book Examples incorporated with industry data Table of ContentsForeword xiii Overview xvii Acknowledgments xxiii About the Author xxv Part One Understanding the Estimation Process 1 1. The Estimation Process: Phases and Roles 3 1.1. Introduction 3 1.2. Generic Approaches in Estimation Models: Judgment or Engineering? 4 1.2.1. Practitioner’s Approach: Judgment and Craftsmanship 4 1.2.2. Engineering Approach: Modest–One Variable at a Time 5 1.3. Overview of Software Project Estimation and Current Practices 6 1.3.1. Overview of an Estimation Process 6 1.3.2. Poor Estimation Practices 7 1.3.3. Examples of Poor Estimation Practices 9 1.3.4. The Reality: A Tally of Failures 10 1.4. Levels of Uncertainty in an Estimation Process 11 1.4.1. The Cone of Uncertainty 11 1.4.2. Uncertainty in a Productivity Model 12 1.5. Productivity Models 14 1.6. The Estimation Process 16 1.6.1. The Context of the Estimation Process 16 1.6.2. The Foundation: The Productivity Model 17 1.6.3. The Full Estimation Process 18 1.7. Budgeting and Estimating: Roles and Responsibilities 23 1.7.1. Project Budgeting: Levels of Responsibility 23 1.7.2. The Estimator 25 1.7.3. The Manager (Decision-Taker and Overseer) 25 1.8. Pricing Strategies 27 1.8.1. Customers-Suppliers: The Risk Transfer Game in Estimation 28 1.9. Summary – Estimating Process, Roles, and Responsibilities 28 Exercises 30 Term Assignments 31 2. Engineering and Economics Concepts for Understanding Software Process Performance 32 2.1. Introduction: The Production (Development) Process 32 2.2. The Engineering (and Management) Perspective on a Production Process 34 2.3. Simple Quantitative Process Models 36 2.3.1. Productivity Ratio 36 2.3.2. Unit Effort (or Unit Cost) Ratio 38 2.3.3. Averages 39 2.3.4. Linear and Non-Linear Models 42 2.4. Quantitative Models and Economics Concepts 45 2.4.1. Fixed and Variable Costs 45 2.4.2. Economies and Diseconomies of Scale 48 2.5. Software Engineering Datasets and Their Distribution 49 2.5.1. Wedge-Shaped Datasets 49 2.5.2. Homogeneous Datasets 50 2.6. Productivity Models: Explicit and Implicit Variables 52 2.7. A Single and Universal Catch-All Multidimensional Model or Multiple Simpler Models? 54 2.7.1. Models Built from Available Data 55 2.7.2. Models Built on Opinions on Cost Drivers 55 2.7.3. Multiple Models with Coexisting Economies and Diseconomies of Scale 56 Exercises 58 Term Assignments 59 3. Project Scenarios, Budgeting, and Contingency Planning 60 3.1. Introduction 60 3.2. Project Scenarios for Estimation Purposes 61 3.3. Probability of Underestimation and Contingency Funds 65 3.4. A Contingency Example for a Single Project 67 3.5. Managing Contingency Funds at the Portfolio Level 69 3.6. Managerial Prerogatives: An Example in the AGILE Context 69 3.7. Summary 71 Further Reading: A Simulation for Budgeting at the Portfolio Level 71 Exercises 74 Term Assignments 75 Part Two Estimation Process: What Must be Verified? 77 4. What Must be Verified in an Estimation Process: An Overview 79 4.1. Introduction 79 4.2. Verification of the Direct Inputs to An Estimation Process 81 4.2.1. Identification of the Estimation Inputs 81 4.2.2. Documenting the Quality of These Inputs 82 4.3. Verification of the Productivity Model 84 4.3.1. In-House Productivity Models 84 4.3.2. Externally Provided Models 85 4.4. Verification of the Adjustment Phase 86 4.5. Verification of the Budgeting Phase 87 4.6. Re-Estimation and Continuous Improvement to the Full Estimation Process 88 Further Reading: The Estimation Verification Report 89 Exercises 92 Term Assignments 93 5. Verification of the Dataset Used to Build the Models 94 5.1. Introduction 94 5.2. Verification of DIRECT Inputs 96 5.2.1. Verification of the Data Definitions and Data Quality 96 5.2.2. Importance of the Verification of the Measurement Scale Type 97 5.3. Graphical Analysis – One-Dimensional 100 5.4. Analysis of the Distribution of the Input Variables 102 5.4.1. Identification of a Normal (Gaussian) Distribution 102 5.4.2. Identification of Outliers: One-Dimensional Representation 103 5.4.3. Log Transformation 107 5.5. Graphical Analysis – Two-Dimensional 108 5.6. Size Inputs Derived from a Conversion Formula 111 5.7. Summary 112 Further Reading: Measurement and Quantification 113 Exercises 116 Term Assignments 117 Exercises–Further Reading Section 117 Term Assignments–Further Reading Section 118 6. Verification of Productivity Models 119 6.1. Introduction 119 6.2. Criteria Describing the Relationships Across Variables 120 6.2.1. Simple Criteria 120 6.2.2. Practical Interpretation of Criteria Values 122 6.2.3. More Advanced Criteria 124 6.3. Verification of the Assumptions of the Models 125 6.3.1. Three Key Conditions Often Required 125 6.3.2. Sample Size 126 6.4. Evaluation of Models by Their Own Builders 127 6.5. Models Already Built–Should You Trust Them? 128 6.5.1. Independent Evaluations: Small-Scale Replication Studies 128 6.5.2. Large-Scale Replication Studies 129 6.6. Lessons Learned: Distinct Models by Size Range 133 6.6.1. In Practice, Which is the Better Model? 138 6.7. Summary 138 Exercises 139 Term Assignments 139 7. Verification of the Adjustment Phase 141 7.1. Introduction 141 7.2. Adjustment Phase in the Estimation Process 142 7.2.1. Adjusting the Estimation Ranges 142 7.2.2. The Adjustment Phase in the Decision-Making Process: Identifying Scenarios for Managers 144 7.3. The Bundled Approach in Current Practices 145 7.3.1. Overall Approach 145 7.3.2. Detailed Approach for Combining the Impact of Multiple Cost Drivers in Current Models 146 7.3.3. Selecting and Categorizing Each Adjustment: The Transformation of Nominal Scale Cost Drivers intoNumbers 147 7.4. Cost Drivers as Estimation Submodels! 148 7.4.1. Cost Drivers as Step Functions 148 7.4.2. Step Function Estimation Submodels with Unknown Error Ranges 149 7.5. Uncertainty and Error Propagation 151 7.5.1. Error Propagation in Mathematical Formulas 151 7.5.2. The Relevance of Error Propagation in Models 153 Exercises 156 Term Assignments 157 Part Three Building Estimation Models: Data Collection and Analysis 159 8. Data Collection and Industry Standards: The ISBSG Repository 161 8.1. Introduction: Data Collection Requirements 161 8.2. The International Software Benchmarking Standards Group 163 8.2.1. The ISBSG Organization 163 8.2.2. The ISBSG Repository 164 8.3. ISBSG Data Collection Procedures 165 8.3.1. The Data Collection Questionnaire 165 8.3.2. ISBSG Data Definitions 167 8.4. Completed ISBSG Individual Project Benchmarking Reports: Some Examples 170 8.5. Preparing to Use the ISBSG Repository 173 8.5.1. ISBSG Data Extract 173 8.5.2. Data Preparation: Quality of the Data Collected 173 8.5.3. Missing Data: An Example with Effort Data 175 Further Reading 1: Benchmarking Types 177 Further Reading 2: Detailed Structure of the ISBSG Data Extract 179 Exercises 183 Term Assignments 183 9. Building and Evaluating Single Variable Models 185 9.1. Introduction 185 9.2. Modestly, One Variable at a Time 186 9.2.1. The Key Independent Variable: Software Size 186 9.2.2. Analysis of the Work–Effort Relationship in a Sample 188 9.3. Data Preparation 189 9.3.1. Descriptive Analysis 189 9.3.2. Identifying Relevant Samples and Outliers 189 9.4. Analysis of the Quality and Constraints of Models 193 9.4.1. Small Projects 195 9.4.2. Larger Projects 195 9.4.3. Implication for Practitioners 195 9.5. Other Models by Programming Language 196 9.6. Summary 202 Exercises 203 Term Assignments 203 10. Building Models with Categorical Variables 205 10.1. Introduction 205 10.2. The Available Dataset 206 10.3. Initial Model with a Single Independent Variable 208 10.3.1. Simple Linear Regression Model with Functional Size Only 208 10.3.2. Nonlinear Regression Models with Functional Size 208 10.4. Regression Models with Two Independent Variables 210 10.4.1. Multiple Regression Models with Two Independent Quantitative Variables 210 10.4.2. Multiple Regression Models with a Categorical Variable: Project Difficulty 210 10.4.3. The Interaction of Independent Variables 215 Exercises 216 Term Assignments 217 11. Contribution of Productivity Extremes in Estimation 218 11.1. Introduction 218 11.2. Identification of Productivity Extremes 219 11.3. Investigation of Productivity Extremes 220 11.3.1. Projects with Very Low Unit Effort 221 11.3.2. Projects with Very High Unit Effort 222 11.4. Lessons Learned for Estimation Purposes 224 Exercises 225 Term Assignments 225 12. Multiple Models from a Single Dataset 227 12.1. Introduction 227 12.2. Low and High Sensitivity to Functional Size Increases: Multiple Models 228 12.3. The Empirical Study 230 12.3.1. Context 230 12.3.2. Data Collection Procedures 231 12.3.3. Data Quality Controls 231 12.4. Descriptive Analysis 231 12.4.1. Project Characteristics 231 12.4.2. Documentation Quality and Its Impact on Functional Size Quality 233 12.4.3. Unit Effort (in Hours) 234 12.5. Productivity Analysis 234 12.5.1. Single Model with the Full Dataset 234 12.5.2. Model of the Least Productive Projects 235 12.5.3. Model of the Most Productive Projects 237 12.6. External Benchmarking with the ISBSG Repository 238 12.6.1. Project Selection Criteria and Samples 238 12.6.2. External Benchmarking Analysis 239 12.6.3. Further Considerations 240 12.7. Identification of the Adjustment Factors for Model Selection 241 12.7.1. Projects with the Highest Productivity (i.e., the Lowest Unit Effort) 241 12.7.2. Lessons Learned 242 Exercises 243 Term Assignments 243 13. Re-Estimation: A Recovery Effort Model 244 13.1. Introduction 244 13.2. The Need for Re-Estimation and Related Issues 245 13.3. The Recovery Effort Model 246 13.3.1. Key Concepts 246 13.3.2. Ramp-Up Process Losses 247 13.4. A Recovery Model When a Re-Estimation Need is Recognized at Time T > 0 248 13.4.1. Summary of Recovery Variables 248 13.4.2. A Mathematical Model of a Recovery Course in Re-Estimation 248 13.4.3. Probability of Underestimation −p(u) 249 13.4.4. Probability of Acknowledging the Underestimation on a Given Month −p(t) 250 Exercises 251 Term Assignments 251 References 253 Index 257

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Book SynopsisPower Electronics and Electric Drives for Traction Applications offers a practical approach to understanding power electronics applications in transportation systems ranging from railways to electric vehicles and ships.Trade Review"The book shows how each drive is sized to provide the desired performance, provides real-world examples and illustrates the technology changes experienced by the drive, showing past, present and potential future technology and future trends" IEEE, July 2017Table of ContentsList of contributors viii Preface x 1 Introduction 1 Gonzalo Abad 1.1 Introduction to the book 1 1.2 Traction applications 3 1.3 Electric drives for traction applications 9 1.4 Classification of different parts of electric drives: converter, machines, control strategies, and energy sources 26 1.5 Future challenges for electric drives 33 1.6 Historical evolution 34 References 36 2 Control of Induction Machines 37 Fernando Briz and Gonzalo Abad 2.1 Introduction 37 2.2 Modeling of induction motors 37 2.3 Rotor flux oriented vector control 52 2.4 Torque capability of the induction machine 69 2.5 Rotor flux selection 71 2.6 Outer control loops 78 2.7 Sensorless control 84 2.8 Steady-state equations and limits of operation of the induction machine 88 References 98 3 Control of Synchronous Machines 100 Fernando Briz and Gonzalo Abad 3.1 Introduction 100 3.2 Types of synchronous machines 100 3.3 Modeling of synchronous machines 103 3.4 Torque equation for synchronous machines 106 3.5 Vector control of permanent magnet synchronous machines 111 3.6 Operation under voltage and current constraints 115 3.7 Speed control 124 3.8 Sensorless control 125 3.9 Numerical calculation of the steady-state of synchronous machines 140 References 146 4 Control of Grid-Connected Converters 148 Aritz Milicua and Gonzalo Abad 4.1 Introduction 148 4.2 Three-phase grid-connected converter model 149 4.3 Three-phase grid-connected converter control 175 4.4 Three-phase grid-connected converter control under unbalanced voltage conditions 185 4.5 Single-phase grid-connected converter model and modulation 207 4.6 Single-phase grid-connected converter control 212 References 220 5 Railway Traction 221 Xabier Agirre and Gonzalo Abad 5.1 Introduction 221 5.2 General description 221 5.3 Physical approach 248 5.4 Electric drive in railway traction 255 5.5 Railway power supply system 276 5.6 ESSs for railway applications 278 5.7 Ground level power supply systems 332 5.8 Auxiliary power systems for railway applications 338 5.9 Real examples 340 5.10 Historical evolution 351 5.11 New trends and future challenges 351 References 357 6 Ships 362 Iñigo Atutxa and Gonzalo Abad 6.1 Introduction 362 6.2 General description 362 6.3 Physical approach of the ship propulsion system 376 6.4 Variable speed drive in electric propulsion 392 6.5 Power generation and distribution system 409 6.6 Computer-based simulation example 439 6.7 Design and dimensioning of the electric system 448 6.8 Real examples 450 6.9 Dynamic positioning (DP) 455 6.10 Historical evolution 458 6.11 New trends and future challenges 463 References 466 7 Electric and Hybrid Vehicles 468 David Garrido and Gonzalo Abad 7.1 Introduction 468 7.2 Physical approach to the electric vehicle: Dynamic model 468 7.3 Electric vehicle configurations 492 7.4 Hybrid electric vehicle configurations 497 7.5 Variable speed drive of the electric vehicle 506 7.6 Battery chargers in electric vehicles 515 7.7 Energy storage systems in electric vehicles 525 7.8 Battery management systems (BMS) 530 7.9 Computer-based simulation example 534 7.10 Electric vehicle design example: Battery pack design 542 7.11 Real examples 543 7.12 Historical evolution 546 7.13 New trends and future challenges 546 References 548 8 Elevators 550 Ana Escalada and Gonzalo Abad 8.1 Introduction 550 8.2 General description 550 8.3 Physical approach 569 8.4 Electric drive 577 8.5 Computer-based simulation 599 8.6 Elevator manufacturers 602 8.7 Summary of the most interesting standards and norms 609 8.8 Door opening/closing mechanism 610 8.9 Rescue system 611 8.10 Traffic 612 8.11 Historical evolution 612 8.12 New trends and future challenges 616 References 618 Index 619

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Book SynopsisESD: Circuits and Devices 2nd Edition provides a clear picture of layout and design of digital, analog, radio frequency (RF) and power applications for protection from electrostatic discharge (ESD), electrical overstress (EOS), and latchup phenomena from a generalist perspective and design synthesis practices providing optimum solutions in advanced technologies. New features in the 2nd edition: Expanded treatment of ESD and analog design of passive devices of resistors, capacitors, inductors, and active devices of diodes, bipolar junction transistors, MOSFETs, and FINFETs. Increased focus on ESD power clamps for power rails for CMOS, Bipolar, and BiCMOS. Co-synthesizing of semiconductor chip architecture and floor planning with ESD design practices for analog, and mixed signal applications Illustrates the influence of analog design practices on ESD design circuitry, from integration, synthesis and layout, to symmetry, matching, inter-diTable of ContentsAbout the Author xix Preface xxi Acknowledgments xxv 1 Electrostatic Discharge 1 1.1 Electricity and Electrostatic Discharge 1 1.1.1 Electricity and Electrostatics 1 1.1.2 Electrostatic Discharge 2 1.1.3 Key ESD Patents, Inventions, and Innovations 4 1.1.4 Table of ESD Defect Mechanisms 8 1.2 Fundamental Concepts of ESD Design 11 1.2.1 Concepts of ESD Design 12 1.2.2 Device Response to External Events 13 1.2.3 Alternate Current Loops 14 1.2.4 Switches 14 1.2.5 Decoupling of Current Paths 15 1.2.6 Decoupling of Feedback Loops 15 1.2.7 Decoupling of Power Rails 15 1.2.8 Local and Global Distribution 15 1.2.9 Usage of Parasitic Elements 16 1.2.10 Buffering 16 1.2.11 Ballasting 16 1.2.12 Unused Section of a Semiconductor Device, Circuit, or Chip Function 17 1.2.13 Impedance Matching between Floating and Nonfloating Networks 17 1.2.14 Unconnected Structures 17 1.2.15 Utilization of Dummy Structures and Dummy Circuits 17 1.2.16 Nonscalable Source Events 17 1.2.17 Area Efficiency 18 1.3 ESD, EOS, EMI, Electromagnetic Compatibility, and Latchup 18 1.3.1 Esd 18 1.3.2 Electrical Overstress 19 1.3.3 Electromagnetic Interference 19 1.3.4 Electromagnetic Compatibility 19 1.3.5 Latchup 19 1.4 ESD Models 19 1.4.1 Human Body Model 20 1.4.2 Machine Model 21 1.4.3 Cassette Model (Small Charge Model) 24 1.4.4 Charged Device Model 24 1.4.5 Transmission Line Pulse 25 1.4.6 Very Fast Transmission Line Pulse 26 1.5 ESD and System-Level Test Models 28 1.5.1 IEC 61000-4-2 29 1.5.2 Human Metal Model 29 1.5.3 IEC 61000-4-5 30 1.5.4 Charged Board Model 31 1.5.5 Cable Discharge Event 32 1.5.5.1 CDE and Scaling 36 1.5.5.2 CDE—Cable Measurement Equipment 37 1.5.5.3 Cable Configuration—Test Configuration 38 1.5.5.4 Cable Configuration—Floating Cable 38 1.5.5.5 Cable Configuration—Held Cable 38 1.5.5.6 CDE—Peak Current versus Charged Voltage 39 1.5.5.7 CDE—Plateau Current versus Charged Voltage 39 1.6 Time Constants 39 1.6.1 Characteristic Times 39 1.6.2 Electrostatic and Magnetostatic Time Constants 39 1.6.2.1 Charge Relaxation Time 39 1.6.2.2 Magnetic Diffusion Time 40 1.6.2.3 Electromagnetic Wave Transit Time 40 1.6.3 Thermal Time Constants 42 1.6.3.1 Heat Capacity 42 1.6.3.2 Thermal Diffusion 42 1.6.3.3 Heat Transport Equation 42 1.6.4 Thermal Physics Time Constants 43 1.6.4.1 Adiabatic, Thermal Diffusion Timescale, and Steady State 44 1.6.5 Semiconductor Device Time Constants 45 1.6.5.1 Depletion Region Transit Time 45 1.6.5.2 Silicon Diode Storage Delay Time 45 1.6.5.3 Bipolar Base Transit Time 46 1.6.5.4 Bipolar Turn-on Transient Time 46 1.6.5.5 Bipolar Turn-off Transient Time 46 1.6.5.6 Bipolar Emitter Transition Capacitance Charging Time 46 1.6.5.7 Bipolar Collector Capacitance Charging Time 47 1.6.5.8 SCR Time Response 47 1.6.5.9 MOSFET Transit Time 47 1.6.5.10 MOSFET Drain Charging Time 48 1.6.5.11 MOSFET Gate Charging Time 48 1.6.5.12 MOSFET Parasitic Bipolar Response Time 48 1.6.6 Circuit Time Constants 49 1.6.6.1 Pad Capacitance 49 1.6.6.2 Half-Pass TGs 49 1.6.6.3 N-Channel Half-Pass Transistor Charging Time Constant 49 1.6.6.4 Half-pass Transistor TG Discharge Time Constant 49 1.6.6.5 P-Channel Half-Pass Transistor Charging Time Constant 49 1.6.6.6 Inverter Propagation Delay Time Constants 50 1.6.6.7 High-to-Low and Low-to-High Transition Time 50 1.6.6.8 Inverter Propagation Delay Time 51 1.6.6.9 Series N-channel MOSFETs Discharge Delay Time 51 1.6.6.10 Series P-channel MOSFETs Charge Delay Time 51 1.6.7 Chip-Level Time Constants 52 1.6.7.1 Peripheral I/O Power Bus Time Constant 52 1.6.7.2 Core Chip Time Constant 53 1.6.7.3 Substrate Time Constants 53 1.6.7.4 Package Time Constants 54 1.6.8 ESD Time Constants 54 1.6.8.1 ESD Events 55 1.6.8.2 HBM Characteristic Time 55 1.6.8.3 mm Characteristic Time 56 1.6.8.4 CDM Characteristic Time 57 1.6.8.5 Charged Cable Model Characteristic Time 57 1.6.8.6 CDE Model 57 1.6.8.7 CCM Characteristic Time 58 1.6.8.8 TLP Model Characteristic Time 58 1.6.8.9 VF-TLP Model Characteristic Time 59 1.7 Capacitance, Resistance, and Inductance and ESD 59 1.7.1 The Role of Capacitance 59 1.7.2 The Role of Resistance 60 1.7.3 The Role of Inductance 61 1.8 Rules of Thumb and ESD 62 1.8.1 ESD Design: An “ESD Ohm’s Law”—A Simple ESD Rule-of-Thumb Design Approach 62 1.9 ESD Scaling 63 1.10 Lumped versus Distributed Analysis and ESD 65 1.10.1 Current and Voltage Distributions 65 1.10.2 Lumped versus Distributed Systems 66 1.10.3 Distributed Systems—Ladder Network Analysis 67 1.10.4 RLC Distributed Systems 69 1.10.5 Resistor–Capacitor (RC) Distributed Systems 74 1.10.6 RG Distributed Systems 77 1.11 ESD Metrics: Chip-Level ESD Metrics and Figures of Merit 79 1.11.1 Chip Mean Pin Power-to-Failure 80 1.11.2 Chip Pin Standard Deviation Power-to-Failure 80 1.11.3 Chip Mean Pin Power-to-Failure to ESD Specification Margin 80 1.11.4 Worst-Case Pin Power-to-Failure to Specification ESD Margin 81 1.11.5 Total ESD Area to Total Chip Area Ratio 81 1.11.6 ESD Area to I/O Area Ratio 81 1.11.7 Circuit ESD Metrics 82 1.11.7.1 Circuit ESD Protection Level to ESD Loading Effect 82 1.11.7.2 Circuit Performance to ESD Loading Effect 82 1.11.7.3 ESD Area to Total Circuit Area Ratio 83 1.11.7.4 Circuit ESD Level to Specification Margin 83 1.11.7.5 Device ESD Metric 83 1.12 ESD Quality and Reliability Business Metrics 84 1.13 Twelve Steps to Building an ESD Strategy 85 1.14 Summary and Closing Comments 86 Problems 87 References 87 2 Design Synthesis 94 2.1 Synthesis and Architecture of a Semiconductor Chip for ESD Protection 94 2.2 Electrical and Spatial Connectivity 95 2.2.1 Electrical Connectivity 95 2.2.2 Thermal Connectivity 95 2.2.3 Spatial Connectivity 96 2.3 ESD, Latchup, and Noise 96 2.3.1 Noise 97 2.3.2 Latchup 98 2.4 Interface Circuits and ESD Elements 98 2.5 ESD Power Clamp Networks 101 2.5.1 Placement of ESD Power Clamps 104 2.6 ESD Rail-to-Rail Networks 105 2.6.1 Placement of ESD Rail-to-Rail Networks 107 2.6.2 Peripheral and Array I/O 107 2.7 Guard Rings 109 2.8 Pads, Floating Pads, and No-connect Pads 111 2.9 Structures under Bond Pads 112 2.10 Mixed Signal Architecture: CMOS 112 2.10.1 Digital and Analog CMOS Architecture 114 2.10.2 Digital and Analog Floor Plan: Placement of Analog Circuits 114 2.11 MS Architecture: Digital, Analog, and RF Architecture 116 2.12 Digital-to-Analog Interdomain Signal Line Failures 118 2.12.1 Digital-to-Analog Core Spatial Isolation 120 2.12.2 Digital-to-Analog Core Ground Coupling 120 2.12.3 Digital-to-Analog Core Resistive Ground Coupling 120 2.12.4 Digital-to-Analog Core Diode Ground Coupling 120 2.12.5 Domain-to-Domain Signal Line ESD Networks 122 2.12.6 Domain-to-Domain Third-Party Coupling Networks 122 2.12.7 Domain-to-Domain Cross-Domain ESD Power Clamp 123 2.13 Summary and Closing Comments 124 Problems 124 References 125 3 MOSFET ESD Design 129 3.1 Basic ESD Design Concepts 129 3.2 ESD MOSFET Design: Channel Length 136 3.2.1 Channel Length and Linewidth Control 136 3.2.2 ACLV Control 138 3.2.3 MOSFET ESD Design Practices 142 3.3 N-Channel MOSFET Design: Channel Width 143 3.4 ESD MOSFET Design: Contacts 144 3.4.1 Gate-to-Contact Spacing 144 3.4.1.1 Off-Axis Current Distribution 148 3.4.1.2 Self-Heating Equienergy Contours 148 3.4.2 Contact-to-Contact Space 149 3.4.3 ESD Design: End Contact 152 3.4.4 ESD MOSFET Design: Contacts to Isolation Edge 153 3.5 ESD MOSFET Design: Metal Distribution 153 3.5.1 MOSFET Metal Bus Design and Current Distribution 153 3.5.2 MOSFET Ladder Network Model 154 3.5.3 MOSFET Wiring: Parallel Current Distribution 158 3.5.4 MOSFET Wiring: Antiparallel Current Distribution 162 3.6 ESD MOSFET Design: Silicide Masking 165 3.6.1 ESD MOSFET Design: Silicide Mask Design 165 3.6.2 ESD MOSFET Design: Silicide Mask Design over Source and Drain 166 3.6.3 ESD MOSFET Design: Silicide Mask Design over Gate 167 3.7 ESD MOSFET Design: Series Cascode Configurations 170 3.7.1 MOSFET ESD Design: Series Cascode MOSFET 170 3.7.2 Integrated Cascoded MOSFETs 171 3.8 ESD MOSFET Design: Multifinger MOSFET Design—Integration of Coupling and Ballasting Techniques 174 3.8.1 Grounded-Gate Resistor-Ballasted MOSFET 174 3.8.2 Soft Substrate Grounded-Gate Resistor-Ballasted MOSFET 176 3.8.3 Gate-Coupled Domino Resistor-Ballasted MOSFET 177 3.8.4 MOSFET Source-Initiated Gate-Bootstrapped Resistor-Ballasted Multifinger MOSFET with MOSFET 179 3.8.5 MOSFET Source-Initiated Gate-Bootstrapped Resistor-Ballasted Multifinger MOSFET with Diode 180 3.9 ESD MOSFET Design: Enclosed Drain Design Practice 181 3.10 ESD MOSFET Interconnect Ballasting Design 182 3.11 ESD MOSFET Design: Source and Drain Segmentation 184 3.12 MOSFET Design for Analog Applications 185 3.13 Summary and Closing Comments 187 Problems 187 References 188 4 ESD Design: Diode Design 191 4.1 ESD Diode Design: ESD Basics 191 4.1.1 Basic ESD Design Concepts 191 4.1.2 ESD Diode Design: ESD Diode Operation 193 4.2 ESD Diode Anode Design 194 4.2.1 P+ Diffusion Anode Width Effect 195 4.2.2 P+ Anode Contacts 195 4.2.3 P+ Anode Silicide to Edge Design 195 4.2.4 P+ Anode to N+ Cathode Isolation Spacing 198 4.2.5 P+ Anode Diode End Effects 198 4.2.6 Circular and Octagonal ESD Diode Design 200 4.3 ESD Diode Design: Interconnect Wiring 202 4.3.1 Parallel Wiring Design 203 4.3.2 Antiparallel Wiring Design 203 4.3.3 Quantized Tapered Parallel and Antiparallel Wiring 203 4.3.4 Continuous Tapered Antiparallel and Parallel Wiring 203 4.3.5 Perpendicular (and Broadside) Wiring with Center-Fed Design 205 4.3.6 Perpendicular (and Broadside) with Uniform Metal Width 206 4.3.7 Perpendicular (and Broadside) Wiring with T-Shaped Extensions 207 4.3.8 Metal Design for Structures under Bond Pads 208 4.4 ESD Design: Polysilicon-Bound Diode Designs 210 4.4.1 ESD Design Issues with Polysilicon-Bound Diode Structures 212 4.5 N-Well Diode Design 213 4.5.1 N-Well Diode Wiring Design 213 4.5.2 N-Well Contact Density 214 4.5.3 N-Well ESD Design, Guard Rings, and Adjacent Structures 214 4.6 N+/P Substrate Diode Design 216 4.7 ESD Design: Diode String Design 217 4.7.1 ESD Design: Diode String Design—Architecture 223 4.7.2 Diode String Elements in Multiple I/O Environments 223 4.7.3 Integration of Signal Pads 224 4.7.4 ESD Design: Diode String Design—Darlington Amplification 227 4.7.5 ESD Design: Diode String Design—Area Scaling 229 4.8 Triple-Well ESD Diode Design 231 4.9 Summary and Closing Comments 234 Problems 234 References 236 5 ESD Design: Passive Resistors 239 5.1 N-Well Resistors 239 5.1.1 N-Well ESD Design Issues 239 5.1.2 N-Well Resistors ESD Design Issues: Integration with MOSFETs 243 5.1.3 N-Well Resistor Ballasting Design 245 5.2 N-Diffusion Resistor Design 248 5.2.1 N-Diffusion Resistors for ESD Protection 248 5.2.2 N-Diffusion Resistors Ballasting Design 249 5.3 P-Diffusion Resistor Design 252 5.3.1 P-Diffusion Resistors for ESD Protection 253 5.4 Br 254 5.4.1 BR Design 254 5.4.2 BR as an ESD Diode Element 256 5.4.3 BR as an ESD HBM and CDM Element 257 5.4.4 BR Ballasting 260 5.4.5 BR Design Integration and ESD 261 5.4.6 BR: Current Robbing and Balancing ESD and Resistor Parasitics 263 5.4.7 BR-to-BR ESD Failure Mechanisms 266 5.4.8 BR Gate Connection and Failure Mechanisms 267 5.5 Summary and Closing Comments 268 Problems 268 References 270 6 Passives for Digital, Analog, and RF Applications 271 6.1 Analog Design Layout Revisited 271 6.1.1 Analog Design: Local Matching 272 6.1.2 Analog Design: Global Matching 272 6.1.3 Symmetry 273 6.1.4 Layout Design Symmetry 273 6.1.5 Thermal Symmetry 273 6.2 Common Centroid Design 274 6.2.1 Common Centroid Arrays 274 6.2.2 One-Axis Common Centroid Design 275 6.2.3 Two-Axis Common Centroid Design 275 6.3 Interdigitation Design 275 6.4 Common Centroid and Interdigitation Design 276 6.5 Passive Element Design 277 6.6 Resistor Element Design 277 6.6.1 Resistor Element Design: Dogbone Layout 277 6.6.2 Resistor Design: Analog Interdigitated Layout 278 6.6.3 Dummy Resistor Layout 278 6.6.4 Thermoelectric Cancellation Layout 279 6.6.5 Electrostatic Shield 280 6.6.6 Interdigitated Resistors and ESD Parasitics 281 6.7 Capacitor Element Design 283 6.8 Inductor Element Design 283 6.9 Summary and Closing Comments 286 Problems 286 References 286 7 Off-Chip Drivers and ESD 288 7.1 Off-chip Drivers 288 7.1.1 OCD I/O Standards and ESD 289 7.1.2 OCD ESD Design Basics 290 7.1.3 OCD: CMOS Asymmetric Pull-Up/Pull-Down 291 7.1.4 OCD: CMOS Symmetric Pull-Up/Pull-Down 292 7.1.5 OCD: Gunning Transceiver Logic 294 7.1.6 OCD: High-Speed Transceiver Logic 295 7.1.7 OCD: Stub Series-Terminated Logic 296 7.2 OCDs: mvi 297 7.3 OCDs: Self-Bias Well OCD Networks 297 7.3.1 Self-Bias Well OCD Networks 297 7.3.2 ESD Protection Networks for Self-Bias Well OCD Networks 300 7.4 Programmable Impedance OCD Network 302 7.4.1 OCD: PIMP OCD Networks 302 7.4.2 ESD Input Protection Networks for PIMP OCDs 305 7.5 OCDs: Universal OCDs 305 7.6 OCDs: Gate-Array OCD Design 306 7.6.1 Gate-Array OCD ESD Design Practices 306 7.6.2 Gate-Array OCD Design—Usage of Unused Elements 306 7.6.3 Gate-Array OCD Design—Impedance Matching of Unused Elements 307 7.6.4 OCD ESD Design—Power Rails Over Multifinger MOSFETs 308 7.7 OCDs: Gate-Modulated Networks 309 7.7.1 OCD: Gate-Modulated MOSFET ESD Network 309 7.7.2 OCD Simplified Gate-Modulated Network 310 7.8 OCDs ESD Design: Integration of Coupling and Ballasting Techniques 311 7.8.1 Ballasting and Coupling 311 7.8.2 MOSFET Source-Initiated Gate-Bootstrapped Resistor-Ballasted Multifinger MOSFET with Diode 311 7.8.3 MOSFET Source-Initiated Gate-Bootstrapped Resistor-Ballasted Multifinger MOSFET with an MOSFET 312 7.8.4 Gate-Coupled Domino Resistor-Ballasted MOSFET 314 7.9 Substrate-Modulated Resistor-Ballasted MOSFET 315 7.10 Summary and Closing Comments 317 Problems 318 References 319 8 Receiver Circuits 322 8.1 Receivers and ESD 322 8.1.1 Receivers and Receiver Delay Time 323 8.1.2 ESD Loading Effect on Receiver Performance 323 8.2 Receivers and ESD 324 8.2.1 Receivers and HBM 324 8.2.2 Receivers and CDM 325 8.3 Receivers and Receiver Evolution 327 8.3.1 Receiver Circuits with Half-Pass TG 327 8.3.2 Receiver with Full-Pass TG 330 8.3.3 Receiver, Half-Pass TG, and Keeper Network 332 8.3.4 Receiver, Half-Pass TG, and the Modified Keeper Network 335 8.4 Receiver Circuits with Pseudozero V T Half-Pass TG 337 8.5 Receiver with ZVT TG 339 8.6 Receiver Circuits with Bleed Transistors 342 8.7 Receiver Circuits with Test Functions 343 8.8 Receiver with Schmitt Trigger Feedback Network 344 8.9 Bipolar Transistor Receivers 347 8.9.1 Bipolar Single-Ended Receiver Circuits 347 8.10 Differential Receivers 349 8.10.1 Signal Differential Receiver 350 8.10.2 Signal CMOS Differential Receivers 350 8.10.3 Signal Bipolar Differential Receivers 350 8.11 CMOS Differential Receiver with Analog Layout Concepts 355 8.11.1 CMOS Differential Receiver Capacitance Loading 355 8.11.2 CMOS Differential Receiver ESD Mismatch 356 8.11.3 Analog Differential Pair ESD Signal Pin Matching with Common Well Layout 359 8.11.4 Analog Differential Pair Common Centroid Design Layout: Signal Pin-to-Signal Pin and Parasitic ESD Elements 359 8.12 Summary and Closing Comments 363 Problems 364 References 366 9 Silicon on Insulator (SOI) ESD Design 368 9.1 Silicon on Insulator ESD Design Concepts 368 9.2 SOI Design MOSFET with Body Contact: T-Shape Layout Style 372 9.3 SOI Lateral Diode Structure 375 9.3.1 Transistors: Bulk Versus SOI Technology 375 9.3.2 SOI Lateral Diode Design 376 9.3.3 SOI Lateral Diode Perimeter Design 376 9.3.4 SOI Lateral Diode Channel Length Design 377 9.3.5 SOI Lateral P+/N−/N+ Diode Structure 377 9.3.6 SOI Lateral P+/P−/N+ Diode Structure 377 9.3.7 SOI Lateral P+/P−/N−/N+ Diode Structure 378 9.3.8 SOI Lateral Ungated P+/P−/N−/N+ Diode Structure 379 9.3.9 SOI Lateral Diode Structures and SOI MOSFET Halos 379 9.4 SOI BR Elements 380 9.5 Dynamic Threshold SOI MOSFET 381 9.6 SOI Dual-Gate MOSFET 384 9.7 SOI ESD Design: Mixed Voltage T-Shape Layout Style 384 9.8 SOI ESD Design: Mixed Voltage Diode Strings 384 9.9 SOI ESD Design: Double-Diode Network 385 9.10 Bulk to SOI ESD Design Remapping 387 9.11 SOI ESD Design in MVI Environments 391 9.12 Comparison of Bulk to SOI ESD Results 393 9.13 SOI ESD Design with Aluminum Interconnects 394 9.14 SOI ESD Design with Copper Interconnects 395 9.15 SOI ESD Design with Gate Circuitry 397 9.16 SOI FinFET Structure 399 9.17 Summary and Closing Comments 403 Problems 403 References 405 10 ESD Circuits: BiCMOS 408 10.1 Bipolar ESD Input Circuits 408 10.2 Diode-Configured Bipolar ESD Input Circuits 412 10.3 Bipolar ESD Input Circuits: Voltage-Triggered Elements 413 10.3.1 Voltage Triggered Bipolar ESD Input Circuits Classifications 413 10.3.2 Bipolar ESD Input: Resistor Grounded-Base ESD Input 414 10.3.3 Bipolar ESD Input Circuits: Zener Breakdown Voltage Triggered 418 10.3.4 Bipolar ESD: BV CEO Voltage-Triggered ESD Input 423 10.3.5 Bipolar ESD Input Circuits: Ultralow-Voltage Forward-Biased Voltage Trigger 430 10.3.6 ESD Bipolar Input Circuits: Future Networks and Scaling 433 10.3.7 Bipolar ESD Input Device Scaling 436 10.4 BiCMOS Mixed Signal Designs 437 10.5 Summary and Closing Comments 437 Problems 437 References 438 11 ESD Power Clamps 442 11.1 ESD Power Clamp Design Practices 442 11.1.1 Classification of ESD Power Clamps 444 11.1.2 Design Synthesis of ESD Power Clamp: Key Design Parameters 446 11.2 Design Synthesis of ESD Power Clamps Trigger Networks 446 11.2.1 Transient Response Frequency Trigger Element and the ESD Frequency Window 446 11.2.2 The ESD Power Clamp Frequency Design Window 447 11.2.3 Design Synthesis of ESD Power Clamp: Voltage-Triggered ESD Trigger Elements 447 11.3 Design Synthesis of ESD Power Clamp: The ESD Power Clamp Shunting Element 449 11.3.1 ESD Power Clamp Trigger Condition versus Shunt Failure 450 11.3.2 ESD Clamp Element: Width Scaling 450 11.3.3 ESD Clamp Element: On-Resistance 451 11.3.4 ESD Clamp Element: Safe Operating Area 451 11.4 ESD Power Clamp Issues 452 11.4.1 ESD Power Clamp Issues: Power-Up and Power-Down 452 11.4.2 ESD Power Clamp Issues: False Triggering 452 11.4.3 ESD Power Clamp Issues: Precharging 452 11.4.4 ESD Power Clamp Issues: Postcharging 453 11.5 ESD Power Clamp Design 453 11.5.1 Native Power Supply RC-Triggered MOSFET ESD Power Clamp 453 11.5.2 Nonnative Power Supply RC-Triggered MOSFET ESD Power Clamp 454 11.5.3 ESD Power Clamp Networks with Improved Inverter Stage Feedback 454 11.5.4 ESD Power Clamp Design Synthesis: Forward-Bias-Triggered ESD Power Clamps 456 11.5.5 ESD Power Clamp Design Synthesis: IEC 61000-4-2 Responsive ESD Power Clamps 457 11.5.6 ESD Power Clamp Design Synthesis: Precharging and Postcharging Insensitive ESD Power Clamps 457 11.6 Master/Slave ESD Power Clamp Systems 458 11.7 Series-Stacked RC-Triggered ESD Power Clamps 460 11.8 ESD Power Clamps: Triple-Well Series Diodes as Core Clamps 460 11.9 Summary and Closing Comments 464 Problems 465 References 466 12 Bipolar ESD Power Clamps 468 12.1 Bipolar ESD Power Clamps 468 12.2 Bipolar Voltage-Triggered ESD Power Clamps 468 12.2.1 Bipolar ESD Power Clamp: Zener Breakdown Voltage Triggered 469 12.2.2 Bipolar ESD Power Clamp: BV CEO Voltage-Triggered ESD Power Clamp 470 12.3 ESD Power Clamp Design Synthesis: Bipolar ESD Power Clamps 473 12.4 Mixed Voltage Interface Forward-Bias Voltage and BV CEO Breakdown Synthesized Bipolar ESD Power Clamps 476 12.5 Ultralow-Voltage Forward-Biased Voltage-Trigger BiCMOS ESD Power Clamp 480 12.6 Bipolar ESD Power Clamps with Frequency Trigger Elements: Capacitance Triggered 485 12.7 Summary and Closing Comments 485 Problems 486 References 487 13 Silicon-Controlled Rectifier Power Clamps 489 13.1 ESD Silicon-Controlled Rectifier Circuits 489 13.1.1 Unidirectional SCR 489 13.1.2 Bidirectional SCR ESD Power Clamps 489 13.1.3 Medium-Level SCR ESD Power Clamps 490 13.1.4 Low Voltage Triggered SCR ESD Power Clamps 490 13.2 Lateral Diffused MOS Circuits 492 13.2.1 LOCOS-Defined LDMOS 492 13.2.2 Shallow Trench Isolation-Defined LDMOS 493 13.2.3 STI-Defined Isolated LDMOS 494 13.3 DeMOS Circuits 496 13.3.1 DeNMOS 497 13.3.2 DeNMOS-SCR Transistor 497 13.4 Ultrahigh-Voltage LDMOS (UHV-LDMOS) Circuits 497 13.4.1 Uhv-ldmos 497 13.4.2 Uhv-ldmos-scr 497 13.5 Summary and Closing Comments 501 Problems 501 References 501 Glossary of Terms 504 Standards 509 Index 512

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Book SynopsisMODERN FERRITES, Volume 1 A robust exploration of the basic principles of ferrimagnetics and their applications In Modern Ferrites Volume 1: Basic Principles, Processing and Properties, renowned researcher and educator Vincent G. Harris delivers a comprehensive overview of the basic principles and ferrimagnetic phenomena of modern ferrite materials. Volume 1 explores the fundamental properties of ferrite systems, including their structure, chemistry, and magnetism; the latest in processing methodologies; and the unique properties that result. The authors explore the processing, structure, and property relationships in ferrites as nanoparticles, thin and thick films, compacts, and crystals and how these relationships are key to realizing practical device applications laying the foundation for next generation technologies. This volume also includes: Comprehensive investigation of the historical and scientific significance of ferrites upon ancientTable of ContentsContents Preface ix List of Contributors xi 1 Historical Evolution of Systeme International d’Unites and Its Application to Electromagnetism and Magnetic Materials 1 Vincent G. Harris 2 Societal Benefits of Ferrites: Historical, Scientific, and Commercial Breakthroughs 9 Vincent G. Harris 3 Structure and Chemistry of Ferrites and Related Oxide Systems 21 Michael E. McHenry and David E. Laughlin 4 Ferrite Magnetism: Fundamentals of Néel’s Molecular Field Theory 47 Michael E. McHenry and David E. Laughlin 5 Molecular Field and Exchange-Interaction Theories Applied to Ferrimagnetic Systems 75 Ke Sun, Chuanjian Wu, Zhong Yu, Rongdi Guo, Xiaona Jiang, and Zhongwen Lan 6 Ferrite Magnetism: A First-Principles Approach 93 Xu Zuo 7 Gyromagnetic Properties of Ferrites 129 Marina Koledintseva and Takanori Tsutaoka 8 Nonlinear Excitations in Ferrites 221 Pavel Kabos, John D. Adam, and Boris A. Kalinikos 9 Chemical Processing and Magnetic Properties of Ferrite Nanoparticles 269 Sarah E. Smith, Melissa Tsui, Brent Williams, and Everett E. Carpenter 10 Ferrite Films: Deposition Methods and Properties in View of Applications 295 Pieter J. van der Zaag, O. Fitchorova, A. Sokolov, and Vincent G. Harris 11 Properties and Applications of Single-Crystal Ferrite Films Grown by Liquid-Phase Epitaxy 413 Huaiwu Zhang, Qinghui Yang, Qiye Wen, Yingli Liu, and Vincent G. Harris 12 Ferrite-Based Electronic Bandgap Heterostructures and Metamaterials 457 Martha Pardavi-Horvath Index 473

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Book SynopsisAn original advanced level reference appealing to both the microwave and antenna communities An overview of the research activity devoted to the synthesis of transmission lines by means of electrically small planar elements, highlighting the main microwave applications and the potential for circuit miniaturization Showcases the research of top experts in the field Presents innovative topics on synthesized transmission lines, which represent fundamental elements in microwave and mm-wave integrated circuits, including on-chip integration Covers topics that are related to the microwave community (transmission lines), and topics that are related to the antenna community (phased arrays), broadening the readership appeal Table of ContentsPreface xi 1 Introduction to Synthesized Transmission Lines 1C. W. Wang and T. G. Ma 1.1 Introduction 1 1.2 Propagation Characteristics of a TEM Transmission Line 2 1.2.1 Wave Equations 2 1.2.2 Keys to Miniaturization 5 1.3 Analysis of Synthesized Transmission Lines 7 1.3.1 Bloch Theorem and Characterization of a Periodic Synthesized Transmission Line 7 1.3.2 Characterization of a Non‐Periodic Synthesized Transmission Line 9 1.3.3 Extraction of Line Parameters from S‐Parameters 10 1.4 Lumped and Quasi‐Lumped Approaches 11 1.4.1 Lumped Networks 11 1.4.2 Shunt‐Stub Loaded Lines 14 1.5 One‐Dimensional Periodic Structures 16 1.5.1 Complementary‐Conducting‐Strip Lines 19 1.6 Photonic Bandgap Structures 20 1.7 Left‐Handed Structures 21 References 24 2 Non‐Periodic Synthesized Transmission Lines for Circuit Miniaturization 26C. W. Wang and T. G. Ma 2.1 Introduction 26 2.2 Non‐Periodic Synthesized Microstrip Lines and Their Applications 27 2.2.1 Design Details and Propagation Characteristics 27 2.2.2 90° and 180° Hybrid Couplers 30 2.2.3 Application to Butler Matrix as Array Feeding Network 32 2.3 Non‐Periodic Synthesized Coplanar Waveguides and Their Applications 34 2.3.1 Synthesis and Design 34 2.3.2 180° Hybrid Using Synthesized CPWs 37 2.3.3 Dual‐Mode Ring Bandpass Filters 38 2.4 Non‐Periodic Quasi‐Lumped Synthesized Coupled Lines 42 2.4.1 Basics of Coupled Transmission Lines 42 2.4.2 Miniaturization of Coupled Lines and the Directional Couplers 44 2.4.3 Marchand Baluns Using Synthesized Coupled Lines 49 2.4.4 Lumped Directional Coupler and the Phase Shifter 53 2.5 Non‐Periodic Synthesized Lines Using Vertical Inductors 55 References 60 3 Dual/Tri‐Operational Mode Synthesized Transmission Lines: Design and Analysis 62C. H. Lai and T. G. Ma 3.1 Introduction 62 3.2 Equivalent Circuit Models and Analysis 63 3.2.1 Ladder‐Type Approximation in the Passband 63 3.2.2 Half‐Circuit Model at Resonance 64 3.3 Dual‐Operational Mode Synthesized Transmission Lines 65 3.3.1 Design Concept 65 3.3.2 Dual‐Mode Synthesized Line Using a Series Resonator 66 3.3.3 Dual‐Mode Synthesized Line Using Open-Circuited Stubs 70 3.3.4 Dual‐Mode Synthesized Line Using Parallel Resonators 72 3.4 Tri‐Operational Mode Synthesized Lines Using Series Resonators 74 3.4.1 Design Concept 74 3.4.2 Tri‐Mode Synthesized Line as Category‐1 Design 75 3.4.3 Tri‐Mode Synthesized Line as Category‐2 Design 79 3.4.4 Tri‐Mode Synthesized Line as Category‐3 Design 83 3.5 Multi‐Operational Mode Synthesized Lines as Diplexer and Triplexer 87 3.5.1 Diplexer 87 3.5.2 Triplexer 89 References 94 4 Applications to Heterogeneous Integrated Phased Arrays 95C. H. Lai and T. G. Ma 4.1 Introduction 95 4.2 Dual‐Mode Retrodirective Array 96 4.2.1 Design Goal 96 4.2.2 System Architecture 97 4.2.3 Circuit Realization 98 4.2.4 Bistatic Radiation Patterns 102 4.2.5 Alternative Architecture 103 4.3 Dual‐Mode Integrated Beam‐Switching/Retrodirective Array 106 4.3.1 Design Goal 106 4.3.2 System Architecture 106 4.3.3 Circuit Realization 109 4.3.4 Radiation Characteristics 111 4.3.5 Complementary Design 111 4.4 Tri‐Mode Heterogeneous Integrated Phased Array 115 4.4.1 Design Goal 115 4.4.2 System Architecture 116 4.4.3 Operation and System Implementation 117 4.4.4 Circuit Responses and Radiation Patterns 119 4.4.4.1 Beam‐Switching Mode 120 4.4.4.2 Van Atta Mode 122 4.4.4.3 PCA Mode 122 4.5 Simplified Dual‐Mode Integrated Array Using Two Elements 122 References 124 5 On‐Chip Realization of Synthesized Transmission Lines Using IPD Processes 126Y. C. Tseng and T. G. Ma 5.1 Introduction 126 5.2 Integrated Passive Device (IPD) Process 127 5.3 Tight Couplers Using Synthesized CPWs 128 5.3.1 Quadrature Hybrid 128 5.3.2 Wideband Rat‐Race Coupler 129 5.3.3 Dual‐Band Rat‐Race Coupler 132 5.3.4 Coupled‐Line Coupler 137 5.3.5 Butler Matrix 139 5.4 Bandpass/Bandstop Filters Using Synthesized CPWs 142 5.4.1 Bandpass Filter Using Synthesized Stepped‐Impedance Resonators 143 5.4.2 Transformer‐Coupled Bandpass Filter 146 5.4.3 Bridged T‐Coils as Common‐Mode Filter 147 5.5 Chip Designs Using Multi‐Mode Synthesized CPWs 151 5.5.1 Diplexer 151 5.5.2 Dual‐Mode Rat‐Race Coupler 154 5.5.3 Triplexer 157 5.5.4 On‐Chip Liquid Detector 161 References 166 6 Periodic Synthesized Transmission Lines with Two‐Dimensional Routing 168T. G. Ma 6.1 Introduction 168 6.2 Design of the Unit Cells 169 6.2.1 Formulation 169 6.2.2 Quarter‐Wavelength Lines 172 6.3 Power Divider and Couplers 174 6.4 Broadside Directional Coupler 178 6.4.1 Design Principle 178 6.4.2 Circuit Realization 180 6.5 Common‐Mode Rejection Filter 184 6.5.1 Design Principle 184 6.5.2 Circuit Realization 187 6.6 On‐Chip Implementation 189 6.6.1 Unit Cells and Quarter‐Wavelength Lines 189 6.6.2 Circuit Implementations and Compensation 192 References 194 Index 196

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Book SynopsisThe first book applying HBFEM to practical electronic nonlinear field and circuit problems Examines and solves wide aspects of practical electrical and electronic nonlinear field and circuit problems presented by HBFEM Combines the latest research work with essential background knowledge, providing an all-encompassing reference for researchers, power engineers and students of applied electromagnetics analysis There are very few books dealing with the solution of nonlinear electric- power-related problems The contents are based on the authors' many years' research and industry experience; they approach the subject in a well-designed and logical way It is expected that HBFEM will become a more useful and practical technique over the next 5 years due to the HVDC power system, renewable energy system and Smart Grid, HF magnetic used in DC/DC converter, and Multi-pulse transformer for HVDC power supply HBFEM can provide effective anTable of ContentsPreface xii About the Companion Website xv 1 Introduction to Harmonic Balance Finite Element Method (HBFEM) 1 1.1 Harmonic Problems in Power Systems 1 1.1.1 Harmonic Phenomena in Power Systems 2 1.1.2 Sources and Problems of Harmonics in Power Systems 3 1.1.3 Total Harmonic Distortion (THD) 4 1.2 Definitions of Computational Electromagnetics and IEEE Standards 1597.1 and 1597.2 7 1.2.1 “The Building Block” of the Computational Electromagnetics Model 7 1.2.2 The Geometry of the Model and the Problem Space 8 1.2.3 Numerical Computation Methods 8 1.2.4 High-Performance Computation and Visualization (HPCV) in CEM 9 1.2.5 IEEE Standards 1597.1 and 1597.2 for Validation of CEM Computer Modeling and Simulations 9 1.3 HBFEM Used in Nonlinear EM Field Problems and Power Systems 12 1.3.1 HBFEM for a Nonlinear Magnetic Field With Current Driven 13 1.3.2 HBFEM for Magnetic Field and Electric Circuit Coupled Problems 14 1.3.3 HBFEM for a Nonlinear Magnetic Field with Voltage Driven 14 1.3.4 HBFEM for a Three-Phase Magnetic Tripler Transformer 14 1.3.5 HBFEM for a Three-Phase High-Speed Motor 15 1.3.6 HBFEM for a DC-Biased 3D Asymmetrical Magnetic Structure Simulation 15 1.3.7 HBFEM for a DC-Biased Problem in HV Power Transformers 16 References 17 2 Nonlinear Electromagnetic Field and Its Harmonic Problems 19 2.1 Harmonic Problems in Power Systems and Power Supply Transformers 19 2.1.1 Nonlinear Electromagnetic Field 19 2.1.2 Harmonics Problems Generated from Nonlinear Load and Power Electronics Devices 21 2.1.3 Harmonics in the Time Domain and Frequency Domain 25 2.1.4 Examples of Harmonic Producing Loads 28 2.1.5 Harmonics in DC/DC Converter of Isolation Transformer 28 2.1.6 Magnetic Tripler 33 2.1.7 Harmonics in Multi-Pulse Rectifier Transformer 35 2.2 DC-Biased Transformer in High-Voltage DC Power Transmission System 38 2.2.1 Investigation and Suppression of DC Bias Phenomenon 38 2.2.2 Characteristics of DC Bias Phenomenon and Problems to be Solved 40 2.3 Geomagnetic Disturbance and Geomagnetic Induced Currents (GIC) 41 2.3.1 Geomagnetically Induced Currents in Power Systems 42 2.3.2 GIC-Induced Harmonic Currents in the Transformer 46 2.4 Harmonic Problems in Renewable Energy and Microgrid Systems 47 2.4.1 Power Electronic Devices – Harmonic Current and Voltage Sources 48 2.4.2 Harmonic Distortion in Renewable Energy Systems 50 2.4.3 Harmonics in the Microgrid and EV Charging System 52 2.4.4 IEEE Standard 519-2014 56 References 58 3 Harmonic Balance Methods Used in Computational Electromagnetics 60 3.1 Harmonic Balance Methods Used in Nonlinear Circuit Problems 60 3.1.1 The Basic Concept of Harmonic Balance in a Nonlinear Circuit 60 3.1.2 The Theory of Harmonic Balance Used in a Nonlinear Circuit 63 3.2 CEM for Harmonic Problem Solving in Frequency, Time and Harmonic Domains 65 3.2.1 Computational Electromagnetics (CEM) Techniques and Validation 65 3.2.2 Time Periodic Electromagnetic Problems Using the Finite Element Method (FEM) 66 3.2.3 Comparison of Time-Periodic Steady-State Nonlinear EM Field Analysis Method 71 3.3 The Basic Concept of Harmonic Balance in EM Fields 73 3.3.1 Definition of Harmonic Balance 73 3.3.2 Harmonic Balance in EM Fields 73 3.3.3 Nonlinear Medium Description 75 3.3.4 Boundary Conditions 76 3.3.5 The Theory of HB-FEM in Nonlinear Magnetic Fields 76 3.3.6 The Generalized HBFEM 83 3.4 HBFEM for Electromagnetic Field and Electric Circuit Coupled Problems 85 3.4.1 HBFEM in Voltage Source-Driven Magnetic Field 85 3.4.2 Generalized Voltage Source-Driven Magnetic Field 86 3.5 HBFEM for a DC-Biased Problem in High-Voltage Power Transformers 91 3.5.1 DC-Biased Problem in HVDC Transformers 91 3.5.2 HBFEM Model of HVDC Transformer 91 References 95 4 HBFEM for Nonlinear Magnetic Field Problems 96 4.1 HBFEM for a Nonlinear Magnetic Field with Current-Driven Source 96 4.1.1 Numerical Model of Current Source to Magnetic Field 97 4.1.2 Example of Current-Source Excitation to Nonlinear Magnetic Field 99 4.2 Harmonic Analysis of Switching Mode Transformer Using Voltage-Driven Source 99 4.2.1 Numerical Model of Voltage Source to Magnetic System 99 4.2.2 Example of Voltage-Source Excitation to Nonlinear Magnetic Field 106 4.3 Three-Phase Magnetic Frequency Tripler Analysis 107 4.3.1 Magnetic Frequency Tripler 107 4.3.2 Nonlinear Magnetic Material and its Saturation Characteristics 107 4.3.3 Voltage Source-Driven Connected to the Magnetic Field 109 4.4 Design of High-Speed and Hybrid Induction Machine using HBFEM 115 4.4.1 Construction of High-Speed and Hybrid Induction Machine 115 4.4.2 Numerical Model of High-Speed and Hybrid Induction Machine using HBFEM, Taking Account of Motion Effect 117 4.4.3 Numerical Analysis of High Speed and Hybrid Induction Machine using HBFEM 126 4.5 Three-Dimensional Axi-Symmetrical Transformer with DC-Biased Excitation 131 4.5.1 Numerical Simulation of 3-D Axi-Symmetrical Structure 133 4.5.2 Numerical Analysis of the Three-Dimensional Axi-Symmetrical Model 136 4.5.3 Eddy Current Calculation of DC-Biased Switch Mode Transformer 138 References 139 5 Advanced Numerical Approach using HBFEM 141 5.1 HBFEM for DC-Biased Problems in HVDC Power Transformers 141 5.1.1 DC Bias Phenomena in HVDC 141 5.1.2 HBFEM for DC-Biased Magnetic Field 142 5.1.3 High-Voltage DC (HVDC) Transformer 160 5.2 Decomposed Algorithm of HBFEM 165 5.2.1 Introduction 165 5.2.2 Decomposed Harmonic Balanced System Equation 166 5.2.3 Magnetic Field Coupled with Electric Circuits 169 5.2.4 Computational Procedure Based on the Block Gauss-Seidel Algorithm 170 5.2.5 DC-Biasing Test on the LCM and Computational Results 172 5.2.6 Analysis of the Flux Density and Flux Distribution Under DC Bias Conditions 176 5.3 HBFEM with Fixed-Point Technique 178 5.3.1 Introduction 178 5.3.2 DC-Biasing Magnetization Curve 180 5.3.3 Fixed-Point Harmonic-Balanced Theory 182 5.3.4 Electromagnetic Coupling 184 5.3.5 Validation and Discussion 184 5.4 Hysteresis Model Based on Neural Network and Consuming Function 188 5.4.1 Introduction 188 5.4.2 Hysteresis Model Based on Consuming Function 189 5.4.3 Hysteresis Loops and Simulation 191 5.4.4 Hysteresis Model Based on a Neural Network 194 5.4.5 Simulation and Validation 196 5.5 Analysis of Hysteretic Characteristics Under Sinusoidal and DC-Biased Excitation 199 5.5.1 Globally Convergent Fixed-Point Harmonic-Balanced Method 199 5.5.2 Hysteretic Characteristic Analysis of the Laminated Core 202 5.5.3 Computation of the Nonlinear Magnetic Field Based on the Combination of the Two Hysteresis Models 206 5.6 Parallel Computing of HBFEM in Multi-Frequency Domain 210 5.6.1 HBFEM in Multi-Frequency Domain 210 5.6.2 Parallel Computing of HBFEM 212 5.6.3 Domain Decomposition 212 5.6.4 Reordering and Multi-Coloring 213 5.6.5 Loads Division in Frequency Domain 214 5.6.6 Two Layers Hybrid Computing 217 References 217 6 HBFEM and Its Future Applications 222 6.1 HBFEM Model of Three-Phase Power Transformer 222 6.1.1 Three-Phase Transformer 222 6.1.2 Nonlinear Magnetic Material and its Saturation Characteristics 223 6.1.3 Voltage Source-Driven Model Connected to the Magnetic Field 224 6.1.4 HBFEM Matrix Equations, Taking Account of Extended Circuits 225 6.2 Magnetic Model of a Single-Phase Transformer and a Magnetically Controlled Shunt Reactor 231 6.2.1 Electromagnetic Coupling Model of a Single-Phase Transformer 231 6.2.2 Solutions of the Nonlinear Magnetic Circuit Model by the Harmonic Balance Method 233 6.2.3 Magnetically Controlled Shunt Reactor 235 6.2.4 Experiment and Computation 237 6.3 Computation Taking Account of Hysteresis Effects Based on Fixed-Point Reluctance 240 6.3.1 Fixed-Point Reluctance 240 6.3.2 Computational Procedure in the Frequency Domain 242 6.3.3 Computational Results and Analysis 243 6.4 HBFEM Modeling of the DC-Biased Transformer in GIC Event 245 6.4.1 GIC Effects on the Transformer 245 6.4.2 GIC Modeling and Harmonic Analysis 248 6.4.3 GIC Modeling Using HBFEM Model 249 6.5 HBFEM Used in Renewable Energy Systems and Microgrids 253 6.5.1 Harmonics in Renewable Energy Systems and Microgrids 253 6.5.2 Harmonic Analysis of the Transformer in Renewable Energy Systems and Microgrids 254 6.5.3 Harmonic Analysis of the Transformer Using a Voltage Driven Source 256 6.5.4 Harmonic Analysis of the Transformer Using a Current-Driven Source 258 References 261 Appendix 263 Appendix I & II 263 Matlab Program and the Laminated Core Model for Computation 263 Appendix III 265 FORTRAN-Based 3D Axi-Symmetrical Transformer with DC-Biased Excitation 265 Index 267

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Book SynopsisSurveys key advances in commercial satellite communications and what might be the implications and/or opportunities for end-users and service providers in utilizing the latest fast-evolving innovations in this field This book explores the evolving technical options and opportunities of satellite networks. Designed to be a self-contained reference, the book includes background technical material in an introductory chapter that will serve as a primer to satellite communications. The textdiscusses advances in modulation techniques, such as DBV-S2 extensions (DVS-S2X); spotbeam-based geosynchronous and medium earth orbit High Throughput Satellite (HTS) technologies and Internet applications; enhanced mobility services with aeronautical and maritime applications; Machine to Machine (M2M) satellite applications; emerging ultra HD technologies; and electric propulsion.The author surveys the latest innovations and service strategies and the resulting implications, which Table of ContentsPreface xi Acknowledgments xiii About the Author xv 1 Overview 1 1.1 Background 2 1.2 Industry Issues and Opportunities: Evolving Trends 6 1.2.1 Issues and Opportunities 6 1.2.2 Evolving Trends 9 1.3 Basic Satellite Primer 15 1.3.1 Satellite Orbits 15 1.3.2 Satellite Transmission Bands 22 1.3.3 Satellite Signal Regeneration 32 1.3.4 Satellite Communication Transmission Chain 34 1.4 Satellite Applications 38 1.5 Satellite Market View 42 1.6 Where is Fiber Optic Technology Going? 45 1.7 Innovation Needed 47 References 48 2 DVB-S2 Modulation Extensions and Other Advances 51 2.1 Part 1: A Review of Modulation and FEC Principles 52 2.1.1 Eb/No Concepts 52 2.1.2 FEC Basics 56 2.1.3 Filters and Roll-Off Factors 63 2.2 Part 2: DVB-S2 and DVB-S2 Extensions 71 2.2.1 DVB-S2 Modulation 71 2.2.2 DVB-S2 Extensions 77 2.3 Part 3: Other Ground-Side Advances 84 2.3.1 Carrier ID 84 2.3.2 Intelligent Inverse Multiplexing 87 2.3.3 Implications of H.265 Coding 91 References 93 3 High Throughput Satellites (HTS) and KA/KU Spot Beam Technologies 95 3.1 Overview 98 3.2 Multiple Access Schemes and Frequency Reuse 101 3.3 Spot Beam Approach 105 3.4 Frequency Colors 109 3.5 Frequency Bands of Operation 114 3.6 Losses and Rain Considerations 122 3.7 HTS Applications 124 3.8 Comparison Between Approaches 128 3.9 A View of KU-Based HTS Systems 131 3.10 HTS Design Considerations 134 3.11 Spot Beam Antenna Design Basics (Satellite Antenna) 135 3.11.1 Single Feed per Beam Antennas 138 3.11.2 Multiple Feeds per Beam Antennas 140 3.12 Examples of HTS 142 3.12.1 ViaSat-1 and -2 143 3.12.2 EchoStar 145 3.12.3 Eutelsat KA-SAT 147 3.12.4 Intelsat EPIC 149 3.12.5 Global Xpress 151 3.12.6 Other Traditional HTS 151 3.12.7 O3b 153 3.12.8 Wideband Global Satcom (WGS) 156 References 157 4 Aeronautical Mobility Services 161 4.1 Overview of the Mobility Environment 162 4.2 Aeronautical Systems 166 4.2.1 Market Opportunities 166 4.2.2 Technology Approaches to Aeronautical Connectivity 168 4.2.3 Aeronautical Antenna Technology and Regulatory Matters 175 4.2.4 Terminal Technology 178 4.2.5 A Specific Example of Antenna Engineering (ViaSat) 178 4.2.6 Beamforming and Ground-Based Beam Forming (GBBF) Systems 188 4.3 Technology Players and Approaches 192 4.3.1 Satellite Infrastructure Providers 192 4.3.2 Vertical Service Providers to Airlines 198 References 205 5 Maritime and Other Mobility Services 207 5.1 Approaches to Maritime Communication 207 5.2 Key Players 212 5.2.1 Inmarsat 212 5.2.2 ViaSat/KVH 212 5.2.3 Intelsat 213 5.2.4 O3b 213 5.3 Comms-On-The-Move Applications 216 5.4 HTS/Ka-Band Transportable Systems 217 References 219 6 M2M Developments and Satellite Applications 221 6.1 A General Overview of the Internet of Things and M2M 222 6.2 M2M Frameworks 233 6.3 M2M Applications Examples and Satellite Support 241 6.3.1 Examples of General Applications 242 6.3.2 Satellite Roles Context and Applications 254 6.3.3 Antennas for Satellite M2M Applications 255 6.3.4 M2M Market Opportunities for Satellite Operators 256 6.3.5 Key Satellite Industry Players and Approaches 263 6.4 Competitive Wireless Technologies 282 6.4.1 Universal Mobile Telecommunications System (UMTS) 291 6.4.2 Long-Term Evolution (LTE) 291 References 294 7 Ultra HD Video/TV and Satellite Implications 297 7.1 H.265 in the Ultra HD Context 298 7.2 Bandwidth/Transmission Requirements 313 7.3 Terrestrial Distribution 315 7.4 Satellite Distribution 316 7.5 Hybrid Distribution 317 7.6 Deployment Challenges Costs Acceptance 319 References 319 8 Satellite Technology Advances: Electric Propulsion and Launch Platforms 321 8.1 Basic Technology and Approach for Electric Propulsion 322 8.2 EP Engines 328 8.2.1 Ion Engines 330 8.2.2 Hall Effect Thrusters 330 8.2.3 MagnetoPlasma Dynamic Thruster 333 8.3 Advantages and Disadvantages of all-EP 335 8.4 Basics About Station-Keeping 337 8.5 Industry Approaches 340 8.6 New Approaches and Players for Launch Platforms 342 8.6.1 Space Exploration Technologies Corporation (SpaceX) 342 8.6.2 Sea Launch 344 8.6.3 Traditional Launchers 344 References 345 Appendix 8A Transponder Costs 347 8A.1 Typical SG&A and EBITDA for the General Commercial World and Satellite Firms 347 8A.2 Transponder Costs 354 References 356 Appendix A Partial Listing of System-Level US Patents for Spot-Beam/Multi-Beam Satellites 357 Appendix B Glossary of Key Satellite Concepts and Terms 367 Index 413

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Book SynopsisExamines current and prospective challenges surrounding global challenges of education, energy, healthcare, security, and resilience This book discusses issues in large-scale systems in the United States and around the world. The authors examine the challenges of education, energy, healthcare, national security, and urban resilience. The book covers challenges in education including America''s use of educational funds, standardized testing, and the use of classroom technology. On the topic of energy, this book examines debates on climate, the current and future developments of the nuclear power industry, the benefits and cost decline of natural gases, and the promise of renewable energy. The authors also discuss national security, focusing on the issues of nuclear weapons, terrorism and cyber security. Urban resilience is addressed in the context of natural threats such as hurricanes and floods. Studies the usage of a globalized benchmark for both studentTable of ContentsContributors xiii Introduction and Overview 1Elisabeth Paté-Cornell, William B. Rouse, and Charles M. Vest Can America Still Compete? 17Norman R. Augustine Section I Education 21 1 Introduction 23 Overview of Contributions 28 References 30 2 K-12 Education Reform in the United States 33Craig R. Barrett Great Teachers 35 High Expectations 36 Tension in the System 36 Intelligent use of Technology in the Classroom 37 Make Education Relevant for the Student 38 3 Secure America’s Economic Future by Investing in Young Children 41Deborah J. Stipek Reference 43 Recommended Readings 43 4 The Future of Teaching in the United States 45Linda Darling-Hammond References 48 5 The Conundrum of Controlling College Costs 49Lawrence S. Bacow References 52 6 Military Education 53William J. Perry Section II Energy 59 7 Introduction 61 Energy Demand 62 The Electric Grid 64 Nuclear Power 65 Renewable Energy 66 Role of Consumers 67 Overview of Contributions 69 References 71 8 The Future of the US Electric Grid 73Richard Schmalensee System Organization 73 Bulk Power 74 Distribution 76 Cybersecurity 78 Concluding Observations 78 9 The Revolution in Natural Gas 81John Deutch 10 The Future of Nuclear Power in the United States 85Richard A. Meserve 11 Renewable Energy: Balancing Risk and Reward 89Richard H. Truly and Michal C. Moore Section III Healthcare 93 12 Introduction 95 Driving Forces 96 Complexity of Decision Making 98 Value and Healthcare Delivery 98 Overview of Contributions 100 References 102 13 How to Move Toward Value-Based Healthcare? 105Denis A. Cortese and Robert K. Smoldt Recommended Readings 107 14 Delivering on the Promise to Reduce the Cost of Healthcare with Electronic Health Records 109William W. Stead Recommended Readings 112 15 Big Data in Health and Healthcare: Hopes and Fears for the Future 113Elizabeth A. McGlynn 16 Medical Education: One Size Does not Fit All 117Lloyd B. Minor and Michael M.E. Johns Section IV Security 121 17 Introduction 123 Emergence of Non-State Powers and Terrorist Groups 123 Resizing the US Nuclear Arsenal 124 Cybersecurity 125 Intelligence 126 Biological Weapons 126 US Defense Budget 127 Overview of Contributions 128 References 132 18 Vigilance in an Evolving Terrorism Landscape 133Michael E. Leiter 19 The Market’s Role in Improving Cybersecurity 139Herbert Lin References 144 20 On Nuclear Weapons 145George P. Shultz 21 The Nuclear Security Challenge: It is International 147Siegfried S. Hecker 22 Nuclear Weapon Reductions Must be Part of Strategic Analysis 151Henry A. Kissinger and Brent Scowcroft 23 Maintaining us Leadership in Science Technology and Innovation for National Security 155Jacques S. Gansler Section V Resilience 159 24 Introduction 161 Framework for Urban Resilience 162 Potential Approaches 163 Overview of Contributions 164 References 167 25 Urban Resilience: How Cities need to Adapt to Unanticipated and Sudden Change 169Michael Batty References 171 26 Buying Down Risks and Investing in Resilience 173Richard Reed References 177 27 Resilience from the Perspective of a Chief Urban Designer 179Alexandros Washburn 28 Engineering for Resilience: Ten Commandments of the Dutch Approach 183Theo Toonen System of Systems 186 Public Expertise 187 Crowded House 188 Co-Governance 188 Clear Direction 189 Executive Leadership 190 International Bat Strategy 191 Implementation Democracy 191 Shared Service 193 Checks and Balances 193 References 194 Conclusions 195 Index 197

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Book SynopsisCovers the latest practices, challenges and theoretical advancements in the domain of balancing economic efficiency and operation risk mitigation This book examines both system operation and market operation perspectives, focusing on the interaction between the two. It incorporates up-to-date field experiences, presents challenges, and summarizes the latest theoretic advancements to address those challenges. The book is divided into four parts. The first part deals with the fundamentals of integrated system and market operations, including market power mitigation, market efficiency evaluation, and the implications of operation practices in energy markets. The second part discusses developing technologies to strengthen the use of the grid in energy markets. System volatility and economic impact introduced by the intermittency of wind and solar generation are also addressed. The third part focuses on stochastic applications, exploring new approaches of handling uncertainTable of ContentsFOREWORD ix PREFACE xi ACKNOWLEDGMENT xiii CONTRIBUTORS xv PART I INTEGRATED SYSTEM AND MARKET OPERATION CHAPTER 1 BALANCE ECONOMIC EFFICIENCY AND OPERATION RISK MITIGATION 3Hong Chen and Jianwei Liu 1.1 Power System Operation Risk Mitigation: The Physics 4 1.2 Integrated System and Market Operation: The Basics 11 1.3 Economic Efficiency Evaluation and Improvement: The Economics 20 1.4 Final Remarks 35 Appendix 1.A Nomenclature 36 Appendix 1.B Electricity Market Model 37 References 39 Disclaimer 41 CHAPTER 2 MITIGATE MARKET POWER TO IMPROVE MARKET EFFICIENCY 4Ross Baldick 2.1 Introduction 43 2.2 Price Formation in Electricity Markets 50 2.3 Price and Offer Caps 52 2.4 Ability and Incentive to Exercise Market Power 53 2.5 Market Power Mitigation Approaches 57 2.6 Conclusion 65 Acknowledgments 65 References 65 PART II UNDER SMART GRID ERA CHAPTER 3 MASS MARKET DEMAND RESPONSE MANAGEMENT FOR THE SMART GRID 69Alex D. Papalexopoulos 3.1 Overview 69 3.2 Introduction 72 3.3 Distributed Computing-Based Demand Response Management Approach 74 3.4 The ColorPower Architecture and Control Algorithms 75 3.5 Integration with the Wholesale Energy Market 80 3.6 Equalizing Market Power Between Supply and Demand 83 3.7 Generalization Beyond Demand Response 84 3.8 A Numerical Example 87 3.9 Concluding Remarks 88 Appendix 3.A Nomenclature 89 References 89 CHAPTER 4 IMPROVE SYSTEM PERFORMANCE WITH LARGE-SCALE VARIABLE GENERATION ADDITION 91Yuri V. Makarov, Pavel V. Etingov, and Pengwei Du 4.1 Review of Regulation and Ancillary Services 92 4.2 Day-Ahead Regulation Forecast at CAISO 93 4.3 Ramping and Uncertainties Evaluation at CAISO 99 4.4 Quantifying the Regulation Service Requirements at ERCOT 103 4.5 Conclusions 111 Appendix 4.A Nomenclature 112 References 113 PART III STOCHASTIC APPLICATIONS CHAPTER 5 SECURITY-CONSTRAINED UNIT COMMITMENT WITH UNCERTAINTIES 117Lei Wu and Mohammad Shahidehpour 5.1 Introduction 118 5.2 SCUC 119 5.3 Uncertainties in Emerging Power Systems 125 5.4 Managing the Resource Uncertainty in SCUC 134 5.5 Illustrative Results 155 5.6 Conclusions 163 Appendix 5.A Nomenclature 164 Acknowledgments 166 References 166 CHAPTER 6 DAY-AHEAD SCHEDULING: RESERVE DETERMINATION AND VALUATION 16Ruiwei Jiang, Antonio J. Conejo, and Jianhui Wang 6.1 The Need of Reserves for Power System Operation 169 6.2 Reserve Determination via Stochastic Programming 170 6.3 Reserve Determination via Adaptive Robust Optimization 179 6.4 Stochastic Programming vs. Adaptive Robust Optimization 182 6.5 Reserve Valuation 185 6.6 Summary, Concluding Remarks, and Research Needs 191 Appendix 6.A Nomenclature 192 References 193 PART IV HARNESS TRANSMISSION FLEXIBILITY CHAPTER 7 IMPROVED MARKET EFFICIENCY VIA TRANSMISSION SWITCHING AND OUTAGE EVALUATION IN SYSTEM OPERATIONS 197Kwok W. Cheung and Jun Wu 7.1 Background 197 7.2 Basic Dispatch Model for Market Clearing 198 7.3 Economic Evaluation of Transmission Outage 201 7.4 Optimal Transmission Switching 203 7.5 Selection of Candidate Transmission Lines for Switching and Implementation of OTS 206 7.6 Test Cases 210 7.7 Final Remarks 216 Appendix 7.A Nomenclature 216 References 217 CHAPTER 8 TOWARD VALUING FLEXIBILITY IN TRANSMISSION PLANNING 219Chin Yen Tee and Marija D. Ilíc 8.1 Introduction 219 8.2 Scale Economies of Transmission Technologies 221 8.3 Disconnect of Current Power System Operational, Planning, and Market Mechanisms 225 8.4 Impact of Operational and Market Practices on Investment Planning 225 8.5 Information and Risk Sharing in the Face of Uncertainties 230 8.6 Challenges in Designing Financial Rights for Flexibility 234 8.7 Conclusions 235 Appendix 8.A Nomenclature 236 Appendix 8.B Mathematical Models Used for Case Studies 238 Appendix 8.C Investment Cost 247 References 248 INDEX 251

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Book SynopsisExplains and resolves the electromagnetic compatibility challenges faced by engineers in transportation and communications This book is a mathematically-rich extension of courses required to maintain the Federal Communications Commission (FCC), the Canadian Standards Association (CSA), and the European Union certifications. The text provides an in-depth study of the electromagnetic compatibility (EMC) issues related to specific topics in transportation and communications, including Light Rail Transit, shadow effects, and radio dead spots, through the analysis of real-world case studies in the United States and Europe. The author provides Cartesian, cylindrical, and spherical solutions that can be applied to Maxwell''s and Wave Equations. The book covers topics such as SCADA Systems, shielding, and complexities of radio frequencies and their effect on communication houses. The author also provides information for alternative industries to apply the solutions from the caTable of ContentsPreface xi About the Author xiii About the Companion Website xv 1 Introduction 1 1.1 Introduction, 1 1.2 Definitions of Commonly Used Terms, 2 1.3 Book Sections and Content Overview, 8 1.4 Regulations, 10 1.5 Background, 16 1.6 EMC Testing Methods for FCC Part 15 Radiation Measurements, 17 1.7 Canadian Regulations, 24 1.8 European Union Regulations, 24 1.9 Review Problems, 57 1.10 Answers to Review Problems, 57 2 Fundamentals of Coupling Culprit to Victim 59 2.1 Radiation Effects on Equipment and Devices, 59 2.2 Various Types of Emission Coupling, 61 2.3 Intermodulation, 64 2.4 Common Mode Rejection Ratio, 67 2.5 Susceptibility and Immunity, 69 2.6 Filters for EMC, 79 2.7 Lightning Stroke Analysis, 81 2.8 Skin Effect in Wire, 83 2.9 Conclusion, 86 2.10 Review Problems, 86 2.11 Answers to Review Problems, 88 3 Introduction to Electromagnetic Fields 91 3.1 An Introduction to Electromagnetic Fields, 91 3.2 Wave Equation Solutions for Cylindrical Coordinate Systems, 98 3.3 Wave Equation Solutions for Spherical Coordinate Systems, 102 3.4 Review Problems, 113 3.5 Answers to Review Problems, 114 4 Case Studies and Analysis in Transportation Systems 115 4.1 Background Information for Subway Systems, 115 4.2 Case Studies, 118 4.3 Tunnel Radiation from a Temporary Antenna Installed on the Catwalk in a Tunnel, 142 4.4 Simulcast Interference at the End of the Cut and Cover Subway Tunnel, 145 4.5 Tracks Survey, 165 4.6 Leaky Radiating Coaxial Cable Analysis, 177 4.7 Effect of Rail on 26 Pair Cable Buried Along Right of Way, 187 4.8 Radiation Leakage from Way Side Communication Houses and Cabinets, 190 4.9 Lightning Rod Ground EMC Installation, 192 5 Case Studies and Analysis of LRT Vehicle and Bus Top Antenna Farm Emissions and Other Radio Related Case Studies 199 5.1 Introduction, 199 5.2 Circulation Currents in the Ground Plane, 201 5.3 Antenna Installation on a Radio Mast Case Study, 203 5.4 Unique Testing Technique for EMI and Police Vehicles, 210 5.5 Antenna Close to the Edge of the Ground Plane, 217 5.6 Case Study: Possible Fade Problem due to Antenna Reflections on the Rooftop of a Locomotive, 219 5.7 Case Study: Antenna Reflection and Diffraction at the Edge of the Ground Plane, 229 5.8 Antenna Application with Reflection also at the Edge of the Ground Plane, 234 5.9 Antenna Application with Reflection between Antennas in a Rooftop Antenna Farm, 239 5.10 Antenna Farm Application with Patch Antennas, 247 5.11 Review Problems, 253 5.12 Answers to Review Problems, 255 6 Case Studies and Analysis of Communications Equipment and Cable Shielding and Grounding for Bus and Ferry Operations 263 6.1 Introduction, 263 6.2 Communication System Overview, 264 6.3 Reflections (Ferry and Bus), 272 6.4 Review Problems, 279 6.5 Answers to Review Problems, 279 7 Health and Safety Issues with Exposure Limits for Maintenance Workers and the Public 281 7.1 Electromagnetic Emission Safety Limits, 281 7.2 EMI Prevention and Control, 290 7.3 Analysis of Rails as a Shock Hazard, 292 7.4 Lightning and Transient Protection, 293 7.5 Power Line Safety Calculations, 294 7.6 FCC Regulations, 297 7.7 Review Problems, 301 7.8 Answers to Review Problems, 302 8 Miscellaneous Information Test Plans and Other Information Useful for Analysis 305 8.1 Introduction, 305 8.2 EMC Plan, 306 8.3 EMC/EMI Performance Evaluation of Communications Equipment, 308 8.4 EMC/EMI Design Procedures, 317 8.5 Fresnel Zone Clearance, 333 8.6 Diffraction Losses, 335 8.7 Review Problems, 337 8.8 Answers to Review Problems, 338 9 Track Circuits and Signals 341 9.1 Introduction, 341 9.2 AF Track Circuits, 344 9.3 Loop Calculations, 352 9.4 Circuit Theory in Loop Calculations, 354 9.5 Review Problems, 359 9.6 Answers to Review Problems, 359 10 Useful Examples 361 10.1 Introduction, 361 10.2 Examples, 361 References 379 Index 381

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Book SynopsisSubstation Automation Systems: Design and Implementation aims to close the gap created by fast changing technologies impacting on a series of legacy principles related to how substation secondary systems are conceived and implemented. It is intended to help those who have to define and implement SAS, whilst also conforming to the current industry best practice standards. Key features: Project-oriented approach to all practical aspects of SAS design and project development. Uniquely focusses on the rapidly changing control aspect of substation design, using novel communication technologies and IEDs (Intelligent Electronic Devices). Covers the complete chain of SAS components and related equipment instead of purely concentrating on intelligent electronic devices and communication networks. Discusses control and monitoring facilities for auxiliary power systems. Contributes significantly to the understanding of the sTable of ContentsPreface xv Acknowledgments xvii List of Abbreviations xix 1 Historical Evolution of Substation Automation Systems (SASs) 1 1.1 Emerging Communication Technologies 4 1.1.1 Serial Communication 4 1.1.2 Local Area Network 4 1.2 Intelligent Electronic Devices (IEDs) 5 1.2.1 Functional Relays 5 1.2.2 Integrated Digital Units 5 1.3 Networking Media 5 1.3.1 Fiber]Optic Cables 5 1.3.2 Network Switches 5 1.4 Communication Standards 6 1.4.1 IEC Standard 61850 (Communication Networks and Systems for Power Utility Automation) 6 1.4.2 IEEE Standard 802.3 (Ethernet) 6 Further Reading 8 2 Main Functions of Substation Automation Systems 9 2.1 Control Function 14 2.2 Monitoring Function 15 2.3 Alarming Function 16 2.4 Measurement Function 17 2.5 Setting and Monitoring of Protective Relays 17 2.6 Control and Monitoring of the Auxiliary Power System 17 2.7 Voltage Regulation 18 Further Reading 18 3 Impact of the IEC 61850 Standard on SAS Projects 19 3.1 Impact on System Implementation Philosophy 21 3.2 Impact on User Specification 21 3.3 Impact on the Overall Procurement Process 23 3.4 Impact on the Engineering Process 23 3.5 Impact on Project Execution 23 3.6 Impact on Utility Global Strategies 24 3.7 The Contents of the Standard 24 3.8 Dealing with the Standard 24 Further Reading 27 4 Switchyard Level, Equipment and Interfaces 29 4.1 Primary Equipment 29 4.1.1 Switchgear 31 4.1.1.1 Circuit Breaker 31 4.1.1.2 Disconnector 32 4.1.1.3 Earthing Switch 33 4.1.2 Instrument Transformers 34 4.1.2.1 Voltage Transformer 34 4.1.2.2 Current Transformer 34 4.1.3 Power Transformers 35 4.1.4 Other Primary Equipment 38 4.2 Medium and Low Voltage Components 39 4.3 Electrical Connections between Primary Equipment 40 4.3.1 Incoming Circuits 42 4.3.2 Outgoing Circuits 42 4.3.3 The “Bay” Concept 43 4.4 Substation Physical Layout 43 4.5 Control Requirements at Switchyard Level 44 Further Reading 46 5 Bay Level: Components and Incident Factors 49 5.1 Environmental and Operational Factors 49 5.1.1 Lightning Strike 49 5.1.2 Switching Transients 50 5.1.2.1 Disconnector Operation 50 5.1.2.2 Circuit Breaker Operation 51 5.1.3 Electromagnetic Disturbance Phenomenon 51 5.1.4 Lightning Protection Practices 52 5.1.5 Typical Earthing Systems 54 5.1.6 Measures to Minimize Electromagnetic Effects 56 5.2 Insulation Considerations in the Secondary System 57 5.3 Switchyard Control Rooms 57 5.4 Attributes of Control Cubicles 59 5.4.1 Constructive Features 59 5.4.2 Earthquake Withstand Capability 59 5.4.3 Electromagnetic Compatibility 60 5.5 The Bay Controller (BC) 60 5.6 Other Bay Level Components 61 5.7 Process Bus 62 Further Reading 63 6 Station Level: Facilities and Functions 65 6.1 Main Control House 65 6.2 Station Controller 67 6.3 Human Machine Interface HMI 68 6.3.1 Start]Up Screen 69 6.3.2 Main Box Screen 69 6.3.3 Users Administrator Screen 69 6.3.4 Primary Circuit Screen (Process Screen) 71 6.3.5 SAS Scheme Screen 71 6.3.6 Event List Screen 71 6.3.7 Alarm List Screen 72 6.4 External Alarming 73 6.5 Time Synchronization Facility 74 6.6 Protocol Conversion Task 74 6.6.1 Briefing on Digital Communication Protocols 75 6.6.2 Premises for Developing Protocol Conversion 76 6.7 Station Bus 77 6.8 Station LAN 77 Further Reading 77 7 System Functionalities 79 7.1 Control Function 79 7.1.1 Control of Primary Switchgear 81 7.1.1.1 Symbols, Colors and Appearance Representing Primary Switchgear 81 7.1.1.2 Switching Command Implementation 81 7.1.1.3 Supervision of Circuit Breaker Trip Circuit 82 7.1.2 Check of Voltage Synchronization (Synchrocheck) 82 7.1.3 Checking Operative Constraint 83 7.1.3.1 Checking of Interlocking Conditions 83 7.1.3.2 Checking of Blocking Conditions 84 7.1.4 Voltage Regulation Task 84 7.1.5 Parallel Working of Power Transformers 85 7.1.6 Operation of Secondary Components 85 7.1.7 Facilities for Operation under Emergency Conditions 86 7.2 Monitoring Function 86 7.2.1 Event Handling 86 7.2.2 External Disturbance Recording 87 7.2.3 Alarming Management 87 7.3 Protection Function 88 7.4 Measuring Function 89 7.5 Metering Function 89 7.6 Report Generation Function 89 7.7 Device Parameterization Function 90 Further Reading 90 8 System Inputs and Outputs 91 8.1 Signals Associated with Primary Equipment 91 8.1.1 Switchgear 91 8.1.1.1 Signals Associated with Circuit Breakers 91 8.1.1.2 Signals Associated with Disconnectors 92 8.1.1.3 Signals Associated with Earthing Switches 92 8.1.2 Instrument Transformers 92 8.1.2.1 Signals Associated with Voltage Transformers 92 8.1.2.2 Signals Associated with Current Transformers 95 8.1.3 Power Transformers 95 8.2 Signals Associated with the Auxiliary Power System 95 8.2.1 Signals Associated with MV Circuit Breakers 95 8.2.2 Signals Associated with MV Distribution Transformers 97 8.2.3 Signals Associated with LV Circuit Breakers 97 8.2.4 Signals Associated with Distribution Center “A” 98 8.2.5 Signals Associated with Distribution Center “B” 98 8.2.6 Signals Associated with AC Distribution Cubicles for Essential Loads 98 8.2.7 Signals Associated with Diesel Generators 100 8.2.8 Signals Associated with AC Distribution Cubicles for Nonessential Loads 100 8.2.9 Signals Associated with DC Transfer Switches 101 8.2.10 Signals Associated with DC Distribution Cubicles 101 8.2.11 Signals Associated with Each Voltage Level of Batteries and Chargers 101 8.3 Signals Associated with Collateral Systems 102 9 System Engineering 103 9.1 Overall System Engineering 103 9.1.1 System General Concept 104 9.1.2 System Topology 104 9.1.3 Opportune Clarifications 105 9.1.4 Premises for Engineering Work 107 9.1.5 Signals Lists 109 9.1.5.1 Signals List Related to the Bay Controller 110 9.1.5.2 Signals List Related to Bay Controller of the Auxiliary Power System 110 9.1.5.3 Signals List Related to the Station Controller 110 9.1.5.4 Signals List for Communication with the NCC 110 9.1.5.5 Point to Point Signals List (For Each Bay) 110 9.1.5.6 Signals Lists Related to Equipment and Systems 111 9.2 Bay Level Engineering 111 9.3 Station Level Engineering 112 9.3.1 Engineering Related to the Station Controller 113 9.3.1.1 Definition and Implementation of the Station Level Database (Process Database) 113 9.3.1.2 Implementation of Redundant Solutions 114 9.3.2 Engineering Related to the Human Machine Interface 114 9.3.2.1 General Design Principles 115 9.3.2.2 Typical Screens 115 9.3.2.3 Operative Features 116 9.4 Functionalities Engineering 116 9.4.1 Interlocking Engineering 116 9.4.2 Voltage Regulation Engineering 117 9.4.3 Protection Engineering 117 9.4.4 Metering Engineering 117 9.4.5 Disturbance Recording Engineering 117 9.4.6 System Self]Monitoring Engineering 118 9.5 Auxiliary Power System Engineering 118 9.5.1 Design Concept 118 9.5.2 AC Voltage Distribution 118 9.5.3 DC Voltage Distribution 119 9.5.4 Batteries and Chargers 119 9.5.5 Medium Voltage Switchgear 119 9.5.6 Automatic Transfer Switches 119 9.6 Project Drawings List 120 9.7 The SAS Engineering Process from the Standard IEC 61850 Perspective 120 Further Reading 120 10 Communication with the Remote Control Center 123 10.1 Communication Pathway 123 10.2 Brief on Digital Communication 123 10.2.1 The OSI Reference Model 124 10.2.2 The IEC Enhanced Performance Architecture Model 127 10.3 Overview of the Distributed Network Protocol (DNP3) 127 10.3.1 The Device Profile Document 128 10.3.2 The DNP3 Implementation Level 128 10.3.3 The DNP3 Implementation Document 128 Further Reading 129 11 System Attributes 131 11.1 System Concept 131 11.2 Network Topology 132 11.3 Redundancy Options 134 11.4 Quality Attributes 135 11.4.1 System Reliability and Availability 135 11.4.1.1 Considerations of the Standards 136 11.4.1.2 Example of an Availability Calculation 136 11.4.2 System Maintainability and Security 138 11.5 Provisions for Extendibility in Future 138 11.6 Cyber]Security Considerations 139 11.7 SAS Performance Requirements 139 Further Reading 140 12 Tests on SAS Components 141 12.1 Type Tests 141 12.1.1 Basic Characteristics Tests 141 12.1.2 Functional Tests 143 12.2 Acceptance Tests 143 12.3 Tests for Checking the Compliance with the Standard IEC 61850 144 Further Reading 144 13 Factory Acceptance Tests 145 13.1 Test Arrangement 145 13.2 System Simulator 145 13.3 Hardware Description 145 13.4 Software Identification 146 13.5 Test Instruments 146 13.6 Documentation to be Available 146 13.7 Checking System Features 146 13.7.1 Checking Basic Features 147 13.7.2 Checking Power Circuit Screens 147 13.7.3 Checking the SAS Scheme Screen 148 13.7.4 Checking Reports Screens (Each Type) 148 13.7.5 Checking Measurement Screens 148 13.7.6 Checking Time Synchronization Facilities 149 13.7.7 Checking of Self]Supervision Functions 149 13.7.8 Checking Peripheral Devices 149 13.7.9 Checking Collateral Subsystems 149 13.7.10 Checking Redundant Functionalities 149 13.8 Planned Testing Program for FAT 150 13.8.1 System Behavior in an Avalanche Condition 150 13.8.2 System Performance 150 13.8.3 Test of the Time Synchronization Mechanism 152 13.8.4 Test of Event Buffer Capability 152 13.8.5 Interlocking Logics 152 13.8.6 Synchronization Features 152 13.8.7 Operational Logic of Transfer Switch 152 13.8.8 Tests on the Communication Link for Technical Service 152 13.9 Nonstructured FATs 153 13.10 After FATs 153 Further Reading 153 14 Commissioning Process 155 14.1 Hardware Description 156 14.2 Software Identification 157 14.3 Test Instruments 157 14.4 Required Documentation 157 14.5 Engineering Tools 157 14.6 Spare Parts 157 14.7 Planned Commissioning Tests 158 14.7.1 System Start]Up 158 14.7.2 Displaying and Exploring the Main Menu Screen 158 14.7.3 Displaying and Dealing with Single]Line Diagrams 158 14.7.4 Displaying and Dealing with the SAS Scheme Screen 159 14.7.5 Displaying and Dealing with Report Screens 160 14.7.6 Displaying and Dealing with Measurement Screens 160 14.7.7 Displaying and Exploring the Alarm List Screen 160 14.7.8 Displaying and Exploring the Event List Screen 161 14.7.9 Checking Peripheral Components 161 14.7.10 Checking the Time Synchronization Mechanism 161 14.7.11 Testing Communication with the Remote Control Center 161 14.7.12 Checking System Performance 161 14.7.13 Testing Functional Performance 162 14.8 Nonstructured Commissioning Tests 162 14.9 List of Pending Points 162 14.10 Re]Commissioning 163 Further Reading 163 15 Training Strategies for Power Utilities 165 15.1 Project]Related Training 166 15.1.1 Station Level Module 166 15.1.2 Bay Level Module 167 15.1.3 Process Level Module 169 15.2 Corporate Training 169 15.2.1 General Purpose Knowledge 169 15.2.2 Learning from the Standard IEC 61850 171 15.2.3 Dealing with Engineering Tools 172 Further Reading 173 16 Planning and Development of SAS Projects 175 16.1 System Specification 176 16.2 Contracting Process 176 16.3 Definition of the Definitive Solution 178 16.4 Design and Engineering 178 16.5 System Integration 179 16.6 Factory Acceptance Tests 179 16.7 Site Installation 180 16.8 Commissioning Process 180 16.9 Project Management 181 16.10 Security Issues 182 16.10.1 Environmental Security 182 16.10.2 Electromagnetic Security 183 16.10.3 Physical Security 183 16.10.4 Information Security 183 16.10.5 Software Security 184 16.11 Documentation and Change Control 184 Further Reading 185 17 Quality Management for SAS Projects 187 17.1 Looking for Quality in Component Capabilities and Manufacturing 188 17.1.1 The Dilemma with Respect to Type Tests 188 17.1.2 The Importance of Factory Conformance Tests 189 17.2 Looking for Quality during the Engineering Stage 189 17.3 Looking for Quality in the Cubicle Assembly Stage 191 17.4 Looking for Quality during FAT 192 17.5 Looking for Quality during Installation and Commissioning 192 17.6 Use of Appropriate Device Documentation 192 Further Reading 196 18 SAS Engineering Process According to Standard IEC 61850 197 18.1 SCL Files 197 18.2 Engineering Tools 198 18.3 Engineering Process 199 Further Reading 202 19 Future Technological Trends 203 19.1 Toward the Full Digital Substation 203 19.1.1 Horizontal Communication as per IEC 61850 (GOOSE Messaging) 203 19.1.2 Unconventional Instrument Transformers 204 19.1.3 Process Bus as Defined by IEC 61850–9]2 204 19.2 Looking for New Testing Strategies on SAS Schemes 204 19.3 Wide Area Control and Monitoring Based on the IEC/TR 61850–90–5 205 19.4 Integration of IEC 61850 Principles into Innovative Smart Grid Solutions 206 Further Reading 206 Appendix A – Samples of Equipment and System Signal Lists 207 A.1 Signals List Related to Circuit Breakers (Each One) 207 A.2 Signals List Related to Collateral Devices 208 A.3 Signals List Related to the Auxiliary Power System 209 A.4 Signals List Related to the SAS Itself 210 Appendix B – Project Drawing List: Titles and Contents 211 B.1 General Interest Drawings 211 B.2 Electromechanical Drawings (High Voltage Equipment and Control Facilities) 213 B.3 Electromechanical Drawings (Control, Protection, Measurement and Communications) 215 B.4 Electromechanical Drawings (Auxiliary Power System) 223 Appendix C – Essential Tips Related to Networking Technology 231 C.1 Computer Network 231 C.1.1 Data 232 C.1.1.1 Meaning of Data, Information and Knowledge 232 C.1.1.2 Data Modeling 233 C.1.1.3 Data Type 234 C.1.1.4 Network Packet 234 C.2 Network Topology 235 C.2.1 Network Links 235 C.2.1.1 Wired Technologies 235 C.2.1.2 Wireless Technologies 235 C.2.2 Network Nodes 235 C.2.3 Network Interface Controllers 236 C.2.4 Repeaters and Hubs 236 C.2.5 Bridges 236 C.2.6 Switches 236 C.2.7 Routers 236 C.2.8 Modems 236 C.3 Network Structure 237 C.3.1 Common Network Layouts 237 C.4 Communication Protocols 237 C.4.1 Ethernet 237 C.4.2 The Internet Protocol Suite 238 C.4.3 SONET/SDH 238 C.4.4 Asynchronous Transfer Mode 238 C.4.5 Basic Requirements of Protocols 239 C.5 Geographical Scale of Network 240 C.5.1 Local Area Network 240 C.5.2 Backbone Network 240 C.5.3 Wide Area Network 241 C.5.4 Intranet 241 C.5.5 Extranet 241 C.6 Internetwork 241 C.6.1 Internet 241 C.6.2 Routing 242 C.6.3 Network Service 242 C.6.4 Network Performance 243 C.6.4.1 Quality of Service 243 C.6.4.2 Network Congestion 243 C.6.4.3 Network Resilience 243 C.6.5 Security Measures in Networks 243 C.6.5.1 Network Security 243 C.6.5.2 Network Surveillance 244 C.6.5.3 End]to]End Encryption 244 C.6.6 Views of the Network 244 C.7 Network Structure 245 C.8 Communication System 245 C.9 Object]Oriented Programming 245 C.10 Programming Tool or Software Development Tool 246 Index 247

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Book SynopsisApplies the four-dimensional formalism with an extended toolbox of operation rules, allowing readers to define more general classes of electromagnetic media and to analyze EM waves that can exist in them. This book covers various properties of electromagnetic media in terms of which they can be set in different classes.Table of ContentsPreface xi 1 Multivectors and Multiforms 1 1.1 Vectors and One-Forms, 1 1.1.1 Bar Product | 1 1.1.2 Basis Expansions 2 1.2 Bivectors and Two-Forms, 3 1.2.1 Wedge Product ∧ 3 1.2.2 Basis Expansions 4 1.2.3 Bar Product 5 1.2.4 Contraction Products ⌋ and ⌊ 6 1.2.5 Decomposition of Vectors and One-Forms 8 1.3 Multivectors and Multiforms, 8 1.3.1 Basis of Multivectors 9 1.3.2 Bar Product of Multivectors and Multiforms 10 1.3.3 Contraction of Trivectors and Three-Forms 11 1.3.4 Contraction of Quadrivectors and Four-Forms 12 1.3.5 Construction of Reciprocal Basis 13 1.3.6 Contraction of Quintivector 14 1.3.7 Generalized Bac-Cab Rules 14 1.4 Some Properties of Bivectors and Two-Forms, 16 1.4.1 Bivector Invariant 16 1.4.2 Natural Dot Product 17 1.4.3 Bivector as Mapping 17 Problems, 18 2 Dyadics 21 2.1 Mapping Vectors and One-Forms, 21 2.1.1 Dyadics 21 2.1.2 Double-Bar Product || 23 2.1.3 Metric Dyadics 24 2.2 Mapping Multivectors and Multiforms, 25 2.2.1 Bidyadics 25 2.2.2 Double-Wedge Product ∧∧ 2.2.3 Double-Wedge Powers 28 2.2.4 Double Contractions ⌊⌊ and ⌋⌋ 30 2.2.5 Natural Dot Product for Bidyadics 31 2.3 Dyadic Identities, 32 2.3.1 Contraction Identities 32 2.3.2 Special Cases 33 2.3.3 More General Rules 35 2.3.4 Cayley–Hamilton Equation 36 2.3.5 Inverse Dyadics 36 2.4 Rank of Dyadics, 39 2.5 Eigenproblems, 41 2.5.1 Eigenvectors and Eigen One-Forms 41 2.5.2 Reduced Cayley–Hamilton Equations 42 2.5.3 Construction of Eigenvectors 43 2.6 Metric Dyadics, 45 2.6.1 Symmetric Dyadics 46 2.6.2 Antisymmetric Dyadics 47 2.6.3 Inverse Rules for Metric Dyadics 48 Problems, 49 3 Bidyadics 53 3.1 Cayley–Hamilton Equation, 54 3.1.1 Coefficient Functions 55 3.1.2 Determinant of a Bidyadic 57 3.1.3 Antisymmetric Bidyadic 57 3.2 Bidyadic Eigenproblem, 58 3.2.1 Eigenbidyadic C− 60 3.2.2 Eigenbidyadic C+ 60 3.3 Hehl–Obukhov Decomposition, 61 3.4 Example: Simple Antisymmetric Bidyadic, 64 3.5 Inverse Rules for Bidyadics, 66 3.5.1 Skewon Bidyadic 67 3.5.2 Extended Bidyadics 70 3.5.3 3D Expansions 73 Problems, 74 4 Special Dyadics and Bidyadics 79 4.1 Orthogonality Conditions, 79 4.1.1 Orthogonality of Dyadics 79 4.1.2 Orthogonality of Bidyadics 81 4.2 Nilpotent Dyadics and Bidyadics, 81 4.3 Projection Dyadics and Bidyadics, 83 4.4 Unipotent Dyadics and Bidyadics, 85 4.5 Almost-Complex Dyadics, 87 4.5.1 Two-Dimensional AC Dyadics 89 4.5.2 Four-Dimensional AC Dyadics 89 4.6 Almost-Complex Bidyadics, 91 4.7 Modified Closure Relation, 93 4.7.1 Equivalent Conditions 94 4.7.2 Solutions 94 4.7.3 Testing the Two Solutions 96 Problems, 98 5 Electromagnetic Fields 101 5.1 Field Equations, 101 5.1.1 Differentiation Operator 101 5.1.2 Maxwell Equations 103 5.1.3 Potential One-Form 105 5.2 Medium Equations, 106 5.2.1 Medium Bidyadics 106 5.2.2 Potential Equation 107 5.2.3 Expansions of Medium Bidyadics 107 5.2.4 Gibbsian Representation 109 5.3 Basic Classes of Media, 110 5.3.1 Hehl–Obukhov Decomposition 110 5.3.2 3D Expansions 112 5.3.3 Simple Principal Medium 114 5.4 Interfaces and Boundaries, 117 5.4.1 Interface Conditions 117 5.4.2 Boundary Conditions 119 5.5 Power and Energy, 123 5.5.1 Bilinear Invariants 123 5.5.2 The Stress–Energy Dyadic 125 5.5.3 Differentiation Rule 127 5.6 Plane Waves, 128 5.6.1 Basic Equations 128 5.6.2 Dispersion Equation 130 5.6.3 Special Cases 132 5.6.4 Plane-Wave Fields 132 5.6.5 Simple Principal Medium 134 5.6.6 Handedness of Plane Wave 135 Problems, 136 6 Transformation of Fields and Media 141 6.1 Affine Transformation, 141 6.1.1 Transformation of Fields 141 6.1.2 Transformation of Media 142 6.1.3 Dispersion Equation 144 6.1.4 Simple Principal Medium 145 6.2 Duality Transformation, 145 6.2.1 Transformation of Fields 146 6.2.2 Involutionary Duality Transformation 147 6.2.3 Transformation of Media 149 6.3 Transformation of Boundary Conditions, 150 6.3.1 Simple Principal Medium 152 6.3.2 Plane Wave 152 6.4 Reciprocity Transformation, 153 6.4.1 Medium Transformation 153 6.4.2 Reciprocity Conditions 155 6.4.3 Field Relations 157 6.4.4 Time-Harmonic Fields 158 6.5 Conformal Transformation, 159 6.5.1 Properties of the Conformal Transformation 160 6.5.2 Field Transformation 164 6.5.3 Medium Transformation 165 Problems, 166 7 Basic Classes of Electromagnetic Media 169 7.1 Gibbsian Isotropy, 169 7.1.1 Gibbsian Isotropic Medium 169 7.1.2 Gibbsian Bi-isotropic Medium 170 7.1.3 Decomposition of GBI Medium 171 7.1.4 Affine Transformation 173 7.1.5 Eigenfields in GBI Medium 174 7.1.6 Plane Wave in GBI Medium 176 7.2 The Axion Medium, 178 7.2.1 Perfect Electromagnetic Conductor 179 7.2.2 PEMC as Limiting Case of GBI Medium 180 7.2.3 PEMC Boundary Problems 181 7.3 Skewon–Axion Media, 182 7.3.1 Plane Wave in Skewon–Axion Medium 184 7.3.2 Gibbsian Representation 185 7.3.3 Boundary Conditions 187 7.4 Extended Skewon–Axion Media, 192 Problems, 194 8 Quadratic Media 197 8.1 P Media and Q Media, 197 8.2 Transformations, 200 8.3 Spatial Expansions, 201 8.3.1 Spatial Expansion of Q Media 201 8.3.2 Spatial Expansion of P Media 203 8.3.3 Relation Between P Media and Q Media 204 8.4 Plane Waves, 205 8.4.1 Plane Waves in Q Media 205 8.4.2 Plane Waves in P Media 207 8.4.3 P Medium as Boundary Material 208 8.5 P-Axion and Q-Axion Media, 209 8.6 Extended Q Media, 211 8.6.1 Gibbsian Representation 211 8.6.2 Field Decomposition 214 8.6.3 Transformations 215 8.6.4 Plane Waves in Extended Q Media 215 8.7 Extended P Media, 218 8.7.1 Medium Conditions 218 8.7.2 Plane Waves in Extended P Media 219 8.7.3 Field Conditions 220 Problems, 221 9 Media Defined by Bidyadic Equations 225 9.1 Quadratic Equation, 226 9.1.1 SD Media 227 9.1.2 Eigenexpansions 228 9.1.3 Duality Transformation 229 9.1.4 3D Representations 231 9.1.5 SDN Media 234 9.2 Cubic Equation, 235 9.2.1 CU Media 235 9.2.2 Eigenexpansions 236 9.2.3 Examples of CU Media 238 9.3 Bi-Quadratic Equation, 240 9.3.1 BQ Media 241 9.3.2 Eigenexpansions 242 9.3.3 3D Representation 244 9.3.4 Special Case 245 Problems, 246 10 Media Defined by Plane-Wave Properties 249 10.1 Media with No Dispersion Equation (NDE Media), 249 10.1.1 Two Cases of Solutions 250 10.1.2 Plane-Wave Fields in NDE Media 255 10.1.3 Other Possible NDE Media 257 10.2 Decomposable Media, 259 10.2.1 Special Cases 259 10.2.2 DC-Medium Subclasses 263 10.2.3 Plane-Wave Properties 267 Problems, 269 Appendix A Solutions to Problems 273 Appendix B Transformation to Gibbsian Formalism 369 Appendix C Multivector and Dyadic Identities 375 References 389 Index 395

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Book SynopsisExplores real-world wireless sensor network development, deployment, and applications Presents state-of-the-art protocols and algorithmsIncludes end-of-chapter summaries, exercises, and referencesFor students, there are hardware overviews, reading links, programming examples, and tests available at [website]For Instructors, there are PowerPoint slides and solutions available at [website]Table of ContentsHow to Use This Book xiii 1 What are Wireless Sensor Networks? 1 1.1 Wireless Sensor Networks 1 1.2 Sample Applications Around the World 3 1.3 Types of Wireless Sensor Networks 7 Summary 10 Further Reading 10 2 Anatomy of a Sensor Node 11 2.1 Hardware Components 11 2.2 Power Consumption 13 2.3 Operating Systems and Concepts 15 2.3.1 Memory Management 17 2.3.2 Interrupts 23 2.3.3 Tasks Threads and Events 24 2.4 Simulators 26 2.5 Communication Stack 28 2.5.1 Sensor Network Communication Stack 28 2.5.2 Protocols and Algorithms 30 Anatomy of a Sensor Node: Summary 30 Further Reading 30 3 Radio Communications 33 3.1 Radio Waves and Modulation/Demodulation 33 3.2 Properties of Wireless Communications 36 3.2.1 Interference and Noise 37 3.2.2 Hidden Terminal Problem 38 3.2.3 Exposed Terminal Problem 39 3.3 Medium Access Protocols 39 3.3.1 Design Criteria for Medium Access Protocols 41 3.3.2 Time Division Multiple Access 42 3.3.3 Carrier Sense Multiple Access 45 3.3.4 Sensor MAC 48 3.3.5 Berkeley MAC 50 3.3.6 Optimizations of B-MAC 51 3.3.7 Other Protocols and Trends 51 Radio Communications: Summary 53 Questions and Exercises 53 Further Reading 54 4 Link Management 57 4.1 Wireless Links Introduction 57 4.2 Properties of Wireless Links 59 4.2.1 Links and Geographic Distance 59 4.2.2 Asymmetric Links 60 4.2.3 Link Stability and Burstiness 61 4.3 Error Control 62 4.3.1 Backward Error Control 62 4.3.2 Forward Error Control 63 4.4 Naming and Addressing 64 4.4.1 Naming 64 4.4.2 Addressing 65 4.4.3 Assignment of Addresses and Names 65 4.4.4 Using Names and Addresses 66 4.5 Link Estimation Protocols 66 4.5.1 Design Criteria 66 4.5.2 Link Quality Based 67 4.5.3 Delivery Rate Based 68 4.5.4 Passive and Active Estimators 69 4.5.5 Collection Tree Protocol 69 4.6 Topology Control 71 4.6.1 Centralized Topology Control 71 4.6.2 Distributed Topology Control 72 Link Management: Summary 73 Questions and Exercises 73 Further Reading 74 5 Multi-Hop Communications 77 5.1 Routing Basics 77 5.2 Routing Metrics 80 5.2.1 Location and Geographic Vicinity 80 5.2.2 Hops 81 5.2.3 Number of Retransmissions 82 5.2.4 Delivery Delay 83 5.3 Routing Protocols 84 5.3.1 Full-Network Broadcast 85 5.3.2 Location-Based Routing 87 5.3.3 Directed Diffusion 90 5.3.4 Collection Tree Protocol 92 5.3.5 Zigbee 94 Multi-Hop Communications: Summary 95 Questions and Exercises 96 Further Reading 96 6 Data Aggregation and Clustering 99 6.1 Clustering Techniques 99 6.1.1 Random Clustering 101 6.1.2 Nearest Sink 102 6.1.3 Geographic Clustering 103 6.1.4 Clustering Summary 104 6.2 In-Network Processing and Data Aggregation 104 6.2.1 Compression 104 6.2.2 Statistical Techniques 107 6.3 Compressive Sampling 109 Data Aggregation and Clustering: Summary 110 Questions and Exercises 111 Further Reading 111 7 Time Synchronization 113 7.1 Clocks and Delay Sources 113 7.2 Requirements and Challenges 114 7.3 Time Synchronization Protocols 117 7.3.1 Lightweight Tree Synchronization 117 7.3.2 Reference Broadcast Synchronization 118 7.3.3 NoTime Protocol 118 Time Synchronization: Summary 120 Questions and Exercises 121 Further Reading 121 8 Localization Techniques 123 8.1 Localization Challenges and Properties 123 8.1.1 Types of Location Information 124 8.1.2 Precision Against Accuracy 125 8.1.3 Costs 125 8.2 Pre-Deployment Schemes 126 8.3 Proximity Schemes 126 8.4 Ranging Schemes 128 8.4.1 Triangulation 129 8.4.2 Trilateration 129 8.5 Range-Based Localization 129 8.6 Range-Free Localization 130 8.6.1 Hop-Based Localization 130 8.6.2 Point in Triangle (PIT) 131 Localization: Summary 132 Questions and Exercises 133 Further Reading 133 9 Sensing Techniques 135 9.1 Types of Sensors 135 9.2 Sensing Coverage 136 9.3 High-Level Sensors 137 9.4 Special Case: The Human As a Sensor 138 9.5 Actuators 138 9.6 Sensor Calibration 139 9.7 Detecting Errors 140 Sensing Techniques: Summary 141 Questions and Exercises 141 10 Designing and Deploying WSN Applications 143 10.1 Early WSN Deployments 143 10.1.1 Murphy Loves Potatoes 144 10.1.2 Great Duck Island 144 10.2 General Problems 145 10.2.1 Node Problems 146 10.2.2 Link/Path Problems 147 10.2.3 Global Problems 148 10.3 General Testing and Validation 149 10.4 Requirements Analysis 151 10.4.1 Analyzing the Environment 151 10.4.2 Analyzing Lifetime and Energy Requirements 153 10.4.3 Analyzing Required Data 153 10.4.4 Analyzing User Expectations 154 10.5 The Top-Down Design Process 154 10.5.1 The Network 154 10.5.2 The Node Neighborhood 155 10.5.3 The Node 156 10.5.4 Individual Components of the Node 156 10.6 Bottom-Up Implementation Process 157 10.6.1 Individual Node-Level Modules 158 10.6.2 The Node As an Entity 159 10.6.3 The Network As an Entity 159 Designing and Deploying WSN Applications: Summary 160 Further Reading 160 11 Summary and Outlook 163 Index 167

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Book SynopsisThe focus of this book is broadband telecommunications: both fixed (DSL, fiber) and wireless (1G-4G). It uniquely covers the broadband telecom field from technological, business and policy angles. The reader learns about the necessary technologies to a certain depth in order to be able to evaluate and analyse competing technologies.Table of ContentsPreface viii 1 Introduction 1 2 Technology, Business and Policy 14 3 Voice Communications 49 4 Information Theory 78 5 From Analogue to Digital 98 6 Error Control Coding 129 7 Digital Modulation 153 8 Packetised Data Communications 169 9 Fixed Broadband Communications Systems 191 10 Terrestrial Broadband Wireless Telecommunications 215 11 Satellite Communications 257 12 Personal Wireless Communications Systems 282 13 Network Topologies, Design and Convergence 307 14 Content Delivery and Net Neutrality 334 Acknowledgements 355 Case Study Index 356 Index 357

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Book SynopsisThis book is the first of its kind to discuss error estimation with a model-based approach. From the basics of classifiers and error estimators to distributional and Bayesian theory, it covers important topics and essential issues pertaining to the scientific validity of pattern classification.Table of ContentsPreface xiii Acknowledgments xix List of Symbols xxi 1 Classification 1 1.1 Classifiers 1 1.2 Population-Based Discriminants 3 1.3 Classification Rules 8 1.4 Sample-Based Discriminants 13 1.4.1 Quadratic Discriminants 14 1.4.2 Linear Discriminants 15 1.4.3 Kernel Discriminants 16 1.5 Histogram Rule 16 1.6 Other Classification Rules 20 1.6.1 k-Nearest-Neighbor Rules 20 1.6.2 Support Vector Machines 21 1.6.3 Neural Networks 22 1.6.4 Classification Trees 23 1.6.5 Rank-Based Rules 24 1.7 Feature Selection 25 Exercises 28 2 Error Estimation 35 2.1 Error Estimation Rules 35 2.2 Performance Metrics 38 2.2.1 Deviation Distribution 39 2.2.2 Consistency 41 2.2.3 Conditional Expectation 41 2.2.4 Linear Regression 42 2.2.5 Confidence Intervals 42 2.3 Test-Set Error Estimation 43 2.4 Resubstitution 46 2.5 Cross-Validation 48 2.6 Bootstrap 55 2.7 Convex Error Estimation 57 2.8 Smoothed Error Estimation 61 2.9 Bolstered Error Estimation 63 2.9.1 Gaussian-Bolstered Error Estimation 67 2.9.2 Choosing the Amount of Bolstering 68 2.9.3 Calibrating the Amount of Bolstering 71 Exercises 73 3 Performance Analysis 77 3.1 Empirical Deviation Distribution 77 3.2 Regression 79 3.3 Impact on Feature Selection 82 3.4 Multiple-Data-Set Reporting Bias 84 3.5 Multiple-Rule Bias 86 3.6 Performance Reproducibility 92 Exercises 94 4 Error Estimation for Discrete Classification 97 4.1 Error Estimators 98 4.1.1 Resubstitution Error 98 4.1.2 Leave-One-Out Error 98 4.1.3 Cross-Validation Error 99 4.1.4 Bootstrap Error 99 4.2 Small-Sample Performance 101 4.2.1 Bias 101 4.2.2 Variance 103 4.2.3 Deviation Variance, RMS, and Correlation 105 4.2.4 Numerical Example 106 4.2.5 Complete Enumeration Approach 108 4.3 Large-Sample Performance 110 Exercises 114 5 Distribution Theory 115 5.1 Mixture Sampling Versus Separate Sampling 115 5.2 Sample-Based Discriminants Revisited 119 5.3 True Error 120 5.4 Error Estimators 121 5.4.1 Resubstitution Error 121 5.4.2 Leave-One-Out Error 122 5.4.3 Cross-Validation Error 122 5.4.4 Bootstrap Error 124 5.5 Expected Error Rates 125 5.5.1 True Error 125 5.5.2 Resubstitution Error 128 5.5.3 Leave-One-Out Error 130 5.5.4 Cross-Validation Error 132 5.5.5 Bootstrap Error 133 5.6 Higher-Order Moments of Error Rates 136 5.6.1 True Error 136 5.6.2 Resubstitution Error 137 5.6.3 Leave-One-Out Error 139 5.7 Sampling Distribution of Error Rates 140 5.7.1 Resubstitution Error 140 5.7.2 Leave-One-Out Error 141 Exercises 142 6 Gaussian Distribution Theory: Univariate Case 145 6.1 Historical Remarks 146 6.2 Univariate Discriminant 147 6.3 Expected Error Rates 148 6.3.1 True Error 148 6.3.2 Resubstitution Error 151 6.3.3 Leave-One-Out Error 152 6.3.4 Bootstrap Error 152 6.4 Higher-Order Moments of Error Rates 154 6.4.1 True Error 154 6.4.2 Resubstitution Error 157 6.4.3 Leave-One-Out Error 160 6.4.4 Numerical Example 165 6.5 Sampling Distributions of Error Rates 166 6.5.1 Marginal Distribution of Resubstitution Error 166 6.5.2 Marginal Distribution of Leave-One-Out Error 169 6.5.3 Joint Distribution of Estimated and True Errors 174 Exercises 176 7 Gaussian Distribution Theory: Multivariate Case 179 7.1 Multivariate Discriminants 179 7.2 Small-Sample Methods 180 7.2.1 Statistical Representations 181 7.2.2 Computational Methods 194 7.3 Large-Sample Methods 199 7.3.1 Expected Error Rates 200 7.3.2 Second-Order Moments of Error Rates 207 Exercises 218 8 Bayesian MMSE Error Estimation 221 8.1 The Bayesian MMSE Error Estimator 222 8.2 Sample-Conditioned MSE 226 8.3 Discrete Classification 227 8.4 Linear Classification of Gaussian Distributions 238 8.5 Consistency 246 8.6 Calibration 253 8.7 Concluding Remarks 255 Exercises 257 A Basic Probability Review 259 A.1 Sample Spaces and Events 259 A.2 Definition of Probability 260 A.3 Borel-Cantelli Lemmas 261 A.4 Conditional Probability 262 A.5 Random Variables 263 A.6 Discrete Random Variables 265 A.7 Expectation 266 A.8 Conditional Expectation 268 A.9 Variance 269 A.10 Vector Random Variables 270 A.11 The Multivariate Gaussian 271 A.12 Convergence of Random Sequences 273 A.13 Limiting Theorems 275 B Vapnik–Chervonenkis Theory 277 B.1 Shatter Coefficients 277 B.2 The VC Dimension 278 B.3 VC Theory of Classification 279 B.3.1 Linear Classification Rules 279 B.3.2 kNN Classification Rule 280 B.3.3 Classification Trees 280 B.3.4 Nonlinear SVMs 281 B.3.5 Neural Networks 281 B.3.6 Histogram Rules 281 B.4 Vapnik–Chervonenkis Theorem 282 C Double Asymptotics 285 Bibliography 291 Author index 301 Subject index 305

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Book SynopsisProvides comprehensive coverage of the basic principles and methods of electric power conversion and the latest developments in the fieldThis book constitutes a comprehensive overview of the modern power electronics. Various semiconductor power switches are described, complementary components and systems are presented, and power electronic converters that process power for a variety of applications are explained in detail. This third edition updates all chapters, including new concepts in modern power electronics. New to this edition is extended coverage of matrix converters, multilevel inverters, and applications of the Z-source in cascaded power converters. The book is accompanied by a website hosting an instructor's manual, a PowerPoint presentation, and a set of PSpice files for simulation of a variety of power electronic converters.Introduction to Modern Power Electronics, Third Edition: Discusses power conversion tTrade Review"This book would be an excellent introduction for those who want to learn about power electronics, or a refresher for those already familiar with the topic. The descriptions are clearly written and supported by numerous circuit schematics, drawings, and tables, which will help the reader fully grasp the subject matter.[Overall]... the book admirably serves the purpose of introducing power electronics to a wide audience of engineers." (IEEE Electrical Insulation magazine May 2017) Table of ContentsPreface xiii About the Companion Website xv 1 Principles of Electric Power Conversion 1 1.1 What is Power Electronics? 1 1.2 Generic Power Converter 3 1.3 Waveform Components and Figures of Merit 8 1.4 Phase Control and Square-Wave Mode 16 1.5 Pulse Width Modulation 22 1.6 Computation of Current Waveforms 30 1.6.1 Analytical Solution 30 1.6.2 Numerical Solution 35 1.6.3 Practical Example: Single-Phase Diode Rectifiers 38 Summary 43 Examples 43 Problems 50 Computer Assignments 53 Further Reading 56 2 Semiconductor Power Switches 57 2.1 General Properties of Semiconductor Power Switches 57 2.2 Power Diodes 59 2.3 Semi-Controlled Switches 63 2.3.1 SCRs 64 2.3.2 Triacs 67 2.4 Fully Controlled Switches 68 2.4.1 GTOs 68 2.4.2 IGCTs 69 2.4.3 Power BJTs 70 2.4.4 Power MOSFETs 74 2.4.5 IGBTs 75 2.5 Comparison of Semiconductor Power Switches 77 2.6 Power Modules 79 2.7 Wide Bandgap Devices 84 Summary 86 Further Reading 87 3 Supplementary Components and Systems 88 3.1 What Are Supplementary Components and Systems? 88 3.2 Drivers 89 3.2.1 Drivers for SCRs, Triacs, and BCTs 89 3.2.2 Drivers for GTOs and IGCTs 90 3.2.3 Drivers for BJTs 91 3.2.4 Drivers for Power MOSFETs and IGBTs 94 3.3 Overcurrent Protection Schemes 96 3.4 Snubbers 98 3.4.1 Snubbers for Power Diodes, SCRs, and Triacs 101 3.4.2 Snubbers for GTOs and IGCTs 102 3.4.3 Snubbers for Transistors 103 3.4.4 Energy Recovery from Snubbers 104 3.5 Filters 106 3.6 Cooling 109 3.7 Control 111 Summary 113 Further Reading 114 4 AC-to-DC Converters 115 4.1 Diode Rectifiers 115 4.1.1 Three-Pulse Diode Rectifier 115 4.1.2 Six-Pulse Diode Rectifier 117 4.2 Phase-Controlled Rectifiers 130 4.2.1 Phase-Controlled Six-Pulse Rectifier 130 4.2.2 Dual Converters 143 4.3 PWM Rectifiers 149 4.3.1 Impact of Input Filter 149 4.3.2 Principles of PWM 150 4.3.3 Current-Type PWM Rectifier 158 4.3.4 Voltage-Type PWM Rectifier 163 4.3.5 Vienna Rectifier 175 4.4 Device Selection for Rectifiers 178 4.5 Common Applications of Rectifiers 180 Summary 184 Examples 185 Problems 191 Computer Assignments 193 Further Reading 195 5 AC-to-AC Converters 196 5.1 AC Voltage Controllers 196 5.1.1 Phase-Controlled Single-Phase AC Voltage Controller 196 5.1.2 Phase-Controlled Three-Phase AC Voltage Controllers 203 5.1.3 PWM AC Voltage Controllers 211 5.2 Cycloconverters 215 5.3 Matrix Converters 220 5.3.1 Classic Matrix Converters 220 5.3.2 Sparse Matrix Converters 227 5.3.3 Z-Source Matrix Converters 230 5.4 Device Selection for AC-to-AC Converters 234 5.5 Common Applications of AC-to-AC Converters 235 Summary 236 Examples 237 Problems 241 Computer Assignments 242 Further Reading 243 6 DC-to-DC Converters 245 6.1 Static DC Switches 245 6.2 Step-Down Choppers 248 6.2.1 First-Quadrant Chopper 250 6.2.2 Second-Quadrant Chopper 254 6.2.3 First-and-Second-Quadrant Chopper 256 6.2.4 First-and-Fourth-Quadrant Chopper 258 6.2.5 Four-Quadrant Chopper 260 6.3 Step-Up Chopper 262 6.4 Current Control in Choppers 265 6.5 Device Selection for Choppers 265 6.6 Common Applications of Choppers 267 Summary 269 Examples 269 Problems 272 Computer Assignments 274 Further Reading 275 7 DC-to-AC Converters 276 7.1 Voltage-Source Inverters 276 7.1.1 Single-Phase VSI 277 7.1.2 Three-Phase VSI 286 7.1.3 Voltage Control Techniques for PWM Inverters 295 7.1.4 Current Control Techniques for VSIs 306 7.2 Current-Source Inverters 315 7.2.1 Three-Phase Square-Wave CSI 315 7.2.2 Three-Phase PWM CSI 319 7.3 Multilevel Inverters 322 7.3.1 Diode-Clamped Three-Level Inverter 324 7.3.2 Flying-Capacitor Three-Level Inverter 327 7.3.3 Cascaded H-Bridge Inverter 329 7.4 Soft-Switching Inverters 333 7.5 Device Selection for Inverters 341 7.6 Common Applications of Inverters 344 Summary 352 Examples 352 Problems 359 Computer Assignments 360 Further Reading 362 8 Switching Power Supplies 364 8.1 Basic Types of Switching Power Supplies 364 8.2 Nonisolated Switched-Mode DC-to-DC Converters 365 8.2.1 Buck Converter 366 8.2.2 Boost Converter 369 8.2.3 Buck–Boost Converter 371 8.2.4 Ĉuk Converter 374 8.2.5 SEPIC and Zeta Converters 378 8.2.6 Comparison of Nonisolated Switched-Mode DC-to-DC Converters 379 8.3 Isolated Switched-Mode DC-to-DC Converters 382 8.3.1 Single-Switch-Isolated DC-to-DC Converters 383 8.3.2 Multiple-Switch-Isolated DC-to-DC Converters 386 8.3.3 Comparison of Isolated Switched-Mode DC-to-DC Converters 389 8.4 Resonant DC-to-DC Converters 390 8.4.1 Quasi-Resonant Converters 391 8.4.2 Load-Resonant Converters 395 8.4.3 Comparison of Resonant DC-to-DC Converters 402 Summary 402 Examples 403 Problems 406 Computer Assignments 408 Further Reading 410 9 Power Electronics and Clean Energy 411 9.1 Why is Power Electronics Indispensable in Clean Energy Systems? 411 9.2 Solar and Wind Renewable Energy Systems 413 9.2.1 Solar Energy Systems 413 9.2.2 Wind Energy Systems 417 9.3 Fuel Cell Energy Systems 422 9.4 Electric Cars 424 9.5 Hybrid Cars 426 9.6 Power Electronics and Energy Conservation 430 Summary 431 Further Reading 432 Appendix A Spice Simulations 433 Appendix B Fourier Series 438 Appendix C Three-Phase Systems 442 Index 447

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Book SynopsisThe only book to offer special coverage of the fundamentals of multicore DSP for implementation on the TMS320C66xx SoC This unique book provides readers with an understanding of the TMS320C66xx SoC as well as its constraints. It offers critical analysis of each element, which not only broadens their knowledge of the subject, but aids them in gaining a better understanding of how these elements work so well together. Written by Texas Instruments' First DSP Educator Award winner, Naim Dahnoun, the book teaches readers how to use the development tools, take advantage of the maximum performance and functionality of this processor and have an understanding of the rich content which spans from architecture, development tools and programming models, such as OpenCL and OpenMP, to debugging tools. It also covers various multicore audio and image applications in detail. Additionally, this one-of-a-kind book is supplemented with: A rich set of tested laboratorTable of ContentsPreface xviii Acknowledgements xxi Foreword xxii About the Companion Website xxiii 1 Introduction to DSP 1 1.1 Introduction 1 1.2 Multicore processors 3 1.2.1 Can any algorithm benefit from a multicore processor? 3 1.2.2 How many cores do I need for my application? 5 1.3 Key applications of high-performance multicore devices 6 1.4 FPGAs, Multicore DSPs, GPUs and Multicore CPUs 8 1.5 Challenges faced for programming a multicore processor 9 1.6 Texas Instruments DSP roadmap 10 1.7 Conclusion 11 References 12 2 The TMS320C66x architecture overview 14 2.1 Overview 14 2.2 The CPU 15 2.2.1 Cross paths 16 2.2.1.1 Data cross paths 17 2.2.1.2 Address cross paths 18 2.2.2 Register file A and file B 20 2.2.2.1 Operands 20 2.2.3 Functional units 21 2.2.3.1 Condition registers 21 2.2.3.2 .L units 22 2.2.3.3 .M units 22 2.2.3.4 .S units 23 2.2.3.5 .D units 23 2.3 Single instruction, multiple data (SIMD) instructions 24 2.3.1 Control registers 24 2.4 The KeyStone memory 24 2.4.1 Using the internal memory 27 2.4.2 Memory protection and extension 29 2.4.3 Memory throughput 29 2.5 Peripherals 30 2.5.1 Navigator 32 2.5.2 Enhanced Direct Memory Access (EDMA) Controller 32 2.5.3 Universal Asynchronous Receiver/Transmitter (UART) 32 2.5.4 General purpose input–output (GPIO) 32 2.5.5 Internal timers 32 2.6 Conclusion 33 References 33 3 Software development tools and the TMS320C6678 EVM 35 3.1 Introduction 35 3.2 Software development tools 37 3.2.1 Compiler 38 3.2.2 Assembler 39 3.2.3 Linker 40 3.2.3.1 Linker command file 40 3.2.4 Compile, assemble and link 42 3.2.5 Using the Real-Time Software Components (RTSC) tools 42 3.2.5.1 Platform update using the XDCtools 42 3.2.6 KeyStone Multicore Software Development Kit 47 3.3 Hardware development tools 47 3.3.1 EVM features 47 3.4 Laboratory experiments based on the C6678 EVM: introduction to Code Composer Studio (CCS) 51 3.4.1 Software and hardware requirements 51 3.4.1.1 Key features 52 3.4.1.2 Download sites 53 3.4.2 Laboratory experiments with the CCS6 53 3.4.2.1 Introduction to CCS 55 3.4.2.2 Implementation of a DOTP algorithm 63 3.4.3 Profiling using the clock 65 3.4.4 Considerations when measuring time 67 3.5 Loading different applications to different cores 67 3.6 Conclusion 72 References 72 4 Numerical issues 74 4.1 Introduction 74 4.2 Fixed- and floating-point representations 75 4.2.1 Fixed-point arithmetic 76 4.2.1.1 Unsigned integer 76 4.2.1.2 Signed integer 77 4.2.1.3 Fractional numbers 77 4.2.2 Floating-point arithmetic 78 4.2.2.1 Special numbers for the 32-bit and 64-bit floating-point formats 81 4.3 Dynamic range and accuracy 82 4.4 Laboratory exercise 83 4.5 Conclusion 85 References 85 5 Software optimisation 86 5.1 Introduction 86 5.2 Hindrance to software scalability for a multicore processor 88 5.3 Single-core code optimisation procedure 88 5.3.1 The C compiler options 90 5.4 Interfacing C with intrinsics, linear assembly and assembly 91 5.4.1 Intrinsics 91 5.4.2 Interfacing C and assembly 92 5.5 Assembly optimisation 97 5.5.1 Parallel instructions 98 5.5.2 Removing the NOPs 99 5.5.3 Loop unrolling 99 5.5.4 Double-Word Access 100 5.5.5 Optimisation summary 100 5.6 Software pipelining 101 5.6.1 Software-pipelining procedure 105 5.6.1.1 Writing linear assembly code 105 5.6.1.2 Creating a dependency graph 105 5.6.1.3 Resource allocation 108 5.6.1.4 Scheduling table 108 5.6.1.5 Generating assembly code 109 5.7 Linear assembly 111 5.7.1 Hand optimisation of the dotp function using linear assembly 112 5.8 Avoiding memory banks 118 5.9 Optimisation using the tools 118 5.10 Laboratory experiments 123 5.11 Conclusion 126 References 126 6 The TMS320C66x interrupts 127 6.1 Introduction 127 6.1.1 Chip-level interrupt controller 129 6.2 The interrupt controller 135 6.3 Laboratory experiment 140 6.3.1 Experiment 1: Using the GIPIOs to trigger some functions 140 6.3.2 Experiment 2: Using the console to trigger an interrupt 140 6.4 Conclusion 143 References 144 7 Real-time operating system: TI-RTOS 145 7.1 Introduction 146 7.2 TI-RTOS 146 7.3 Real-time scheduling 148 7.3.1 Hardware interrupts (Hwis) 148 7.3.1.1 Setting an Hwi 149 7.3.1.2 Hwi hook functions 149 7.3.2 Software interrupts (Swis), including clock, periodic or single-shot functions 155 7.3.3 Tasks 155 7.3.3.1 Task hook functions 157 7.3.4 Idle functions 158 7.3.5 Clock functions 158 7.3.6 Timer functions 158 7.3.7 Synchronisation 158 7.3.7.1 Semaphores 159 7.3.7.2 Semaphore_pend 159 7.3.7.3 Semaphore_post 159 7.3.7.4 How to configure the semaphores 159 7.3.8 Events 159 7.3.9 Summary 163 7.4 Dynamic memory management 163 7.4.1 Stack allocation 165 7.4.2 Heap allocation 165 7.4.3 Heap implementation 165 7.4.3.1 HeapMin implementation 165 7.4.3.2 HeapMem implementation 165 7.4.3.3 HeapBuf implementation 167 7.4.3.4 HeapMultiBuf implementation 171 7.5 Laboratory experiments 172 7.5.1 Lab 1: Manual setup of the clock (part 1) 172 7.5.2 Lab 2: Manual setup of the clock (part 2) 172 7.5.3 Lab 3: Using Hwis, Swis, tasks and clocks 174 7.5.4 Lab 4: Using events 187 7.5.5 Lab 5: Using the heaps 189 7.6 Conclusion 190 References 191 References (further reading) 191 8 Enhanced Direct Memory Access (EDMA3) controller 192 8.1 Introduction 192 8.2 Type of DMAs available 193 8.3 EDMA controllers architecture 194 8.3.1 The EDMA3 Channel Controller (EDMA3CC) 194 8.3.2 The EDMA3 transfer controller (EDMA3TC) 201 8.3.3 EDMA prioritisation 201 8.3.3.1 Trigger source priority 202 8.3.3.2 Channel priority 203 8.3.3.3 Dequeue priority 203 8.3.3.4 System (transfer controller) priority 203 8.4 Parameter RAM (PaRAM) 203 8.4.1 Channel options parameter (OPT) 203 8.5 Transfer synchronisation dimensions 203 8.5.1 A – Synchronisation 204 8.5.2 AB – Synchronisation 204 8.6 Simple EDMA transfer 204 8.7 Chaining EDMA transfers 208 8.8 Linked EDMAs 208 8.9 Laboratory experiments 210 8.9.1 Laboratory 1: Simple EDMA transfer 211 8.9.2 Laboratory 2: EDMA chaining transfer 211 8.9.3 Laboratory 3: EDMA link transfer 213 8.10 Conclusion 213 References 213 9 Inter-Processor Communication (IPC) 214 9.1 Introduction 215 9.2 Texas Instruments IPC 217 9.3 Notify module 219 9.3.1 Laboratory experiment 222 9.4 MessageQ 222 9.4.1 MessageQ protocol 224 9.4.2 Message priority 229 9.4.3 Thread synchronisation 229 9.5 ListMP module 233 9.6 GateMP module 234 9.6.1 Initialising a GateMP parameter structure 234 9.6.1.1 Types of gate protection 235 9.6.2 Creating a GateMP instance 236 9.6.3 Entering a GateMP 236 9.6.4 Leaving a gate 236 9.6.5 The list of functions that can be used by GateMP 237 9.7 Multi-processor Memory Allocation: HeapBufMP, HeapMemMP and HeapMultiBufMP 237 9.7.1 HeapBuf_Params 238 9.7.2 HeapMem_Params 239 9.7.3 HeapMultiBuf_Params 239 9.7.4 Configuration example for HeapMultiBuf 239 9.8 Transport mechanisms for the IPC 241 9.9 Laboratory experiments with KeyStone I 241 9.9.1 Laboratory 1: Using MessageQ with multiple cores 241 9.9.1.1 Overview 242 9.9.2 Laboratory 2: Using ListMP, ShareRegion and GateMP 243 9.10 Laboratory experiments with KeyStone II 249 9.10.1 Laboratory experiment 1: Transferring a block of data 249 9.10.1.1 Set the connection between the host (PC) and the KeyStone 249 9.10.1.2 Explore the ARM code 250 9.10.1.3 Explore the DSP code 259 9.10.1.4 Compile and run the program 263 9.10.2 Laboratory experiment 2: Transferring a pointer 267 9.10.2.1 Explore the ARM code 267 9.10.2.2 Explore the DSP code 271 9.10.2.3 Compile and run the program 278 9.11 Conclusion 278 References 278 10 Single and multicore debugging 280 10.1 Introduction 281 10.2 Software and hardware debugging 282 10.3 Debug architecture 282 10.3.1 Trace 282 10.3.1.1 Standard trace 282 10.3.1.2 Event trace 283 10.3.1.3 System trace 285 10.4 Advanced Event Triggering 286 10.4.1 Advanced Event Triggering logic 289 10.4.2 Unified Breakpoint Manager 294 10.5 Unified Instrumentation Architecture 295 10.5.1 Host-side tooling 295 10.5.2 Target-side tooling 295 10.5.2.1 Software instrumentation APIs 297 10.5.2.2 Predefined software events and metadata 297 10.5.2.3 Event loggers 297 10.5.2.4 Transports 297 10.5.2.5 SYS/BIOS event capture and transport 297 10.5.2.6 Multicore support 297 10.6 Debugging with the System Analyzer tools 298 10.6.1 Target-side coding with UIA APIs and the XDCtools 299 10.6.2 Logging events with Log_write() functions 300 10.6.3 Advance debugging using the diagnostic feature 301 10.6.4 LogSnapshot APIs for logging state information 302 10.7 Instrumentation with TI-RTOS and CCS 302 10.7.1 Using RTOS Object Viewer 302 10.7.2 Using the RTOS Analyzer and the System Analyzer 303 10.7.2.1 RTOS Analyzer 303 10.7.2.2 System Analyzer 303 10.8 Laboratory sessions 305 10.8.1 Laboratory experiment 1: Using the RTOS ROV 305 10.8.2 Laboratory experiment 2: Using the RTOS Analyzer 305 10.8.3 Laboratory experiment 3: Using the System Analyzer 312 10.8.4 Laboratory experiment 4: Using diagnosis features 314 10.8.5 Laboratory experiment 5: Using a diagnostic feature with filtering 317 10.9 Conclusion 321 References 322 Further reading 323 11 Bootloader for KeyStone I and KeyStone II 324 11.1 Introduction 324 11.2 How to start the boot process 325 11.3 The boot process 325 11.4 ROM Bootloader (RBL) 328 11.4.1 The boot configuration format 336 11.4.1.1 Creating the boot parameter table 336 11.4.1.2 Creating the boot table 338 11.4.1.3 The boot configuration table 338 11.5 Boot process 340 11.5.1 Initialisation stage for the KeyStone I 340 11.5.2 Second-level bootloader 341 11.5.2.1 Intermediate bootloader 341 11.5.2.2 How to use the IBL 342 11.6 Laboratory experiment 1 345 11.6.1 Initialisation stage for the KeyStone II 350 11.6.1.1 Bootloader initialisation after power-on reset 350 11.6.1.2 Bootloader initialisation process after hard or soft reset 350 11.6.2 Second bootloader for the KeyStone II 350 11.6.2.1 U-Boot 351 11.7 Laboratory experiment 2 352 11.7.1 Printing the U-Boot environment 360 11.7.2 Using the help for U-Boot 362 11.8 TFTP boot with a host-mounted Network File System (NFS) server – NFS booting 363 11.8.1 Laboratory experiment 3 364 11.9 Conclusion 372 References 372 12 Introduction to OpenMP 374 12.1 Introduction to OpenMP 375 12.2 Directive formats 376 12.3 Forking region 377 12.3.1 omp parallel – parallel region construct 377 12.3.1.1 Clause descriptions 378 12.4 Work-sharing constructs 382 12.4.1 omp for 382 12.4.1.1 OpenMP loop scheduling 383 12.4.2 omp sections 385 12.4.3 omp single 386 12.4.4 omp master 386 12.4.5 omp task 387 12.5 Environment variables and library functions 390 12.6 Synchronisation constructs 392 12.6.1 atomic 393 12.6.1.1 Clauses 393 12.6.2 barrier 395 12.6.3 critical 396 12.7 OpenMP accelerator model 397 12.7.1 Supported OpenMP device constructs 397 12.7.1.1 #pragma omp target 397 12.7.1.2 #pragma omp target data 399 12.7.1.3 #pragma omp target update 400 12.7.1.4 #pragma omp declare target 401 12.8 Laboratory experiments 402 12.8.1 Laboratory experiment 1 402 12.8.2 Laboratory experiment 2 402 12.8.3 Laboratory experiment 3 404 12.8.4 Laboratory experiment 4 405 12.8.5 Laboratory experiment 5 405 12.9 Conclusion 417 References 419 13 Introduction to OpenCL for the KeyStone II 420 13.1 Introduction 421 13.2 Operation of OpenCL 421 13.3 Command queue 424 13.3.1 Creating a command queue 427 13.3.1.1 Command-queue properties 429 13.3.2 Enqueueing a kernel 430 13.4 Kernel declaration 431 13.5 How do the kernels access data? 431 13.6 OpenCL memory model for the KeyStone 432 13.6.1 Creating a buffer 433 13.6.1.1 Cl_mem_flags 434 13.7 Synchronisation 435 13.7.1 Event with a callback function 436 13.7.2 User event 439 13.7.3 Waiting for one command or all commands to finish 439 13.7.4 wait_group_events 440 13.7.5 Barrier 440 13.8 Basic debugging profiling 440 13.9 OpenMP dispatch from OpenCL 443 13.9.1 OpenMP for the kernel code 443 13.9.2 OpenMP for the ARM code 443 13.10 Building the OpenCL project 444 13.11 Laboratory experiments 445 13.11.1 Laboratory experiment 1: Hello World 446 13.11.2 Laboratory experiment 2: dotp functions 454 13.11.2.1 Explore the main.cpp function 454 13.11.2.2 Explore the kernel dotp.cl 459 13.11.2.3 Run the dotp program 460 13.11.3 Laboratory experiment 3: USE_HOST_PTR 460 13.11.4 Laboratory experiment 4: ALLOC_HOST_PTR 463 13.11.5 Laboratory experiment 5: COPY_HOST_PTR 465 13.11.6 Laboratory experiment 6: Synchronisation 467 13.11.7 Laboratory experiment 7: Local buffer 473 13.11.8 Laboratory experiment 8: Barrier 477 13.11.9 Laboratory experiment 9: Profiling 479 13.11.10 Laboratory experiment 10: OpenMP in kernel 484 13.11.11 Laboratory experiment 11: OpenMP in ARM 487 13.12 Conclusion 489 References 490 14 Multicore Navigator 491 14.1 Introduction 491 14.2 Navigator architecture 492 14.2.1 The PKDMA 494 14.2.1.1 PKDMA transmit side 495 14.2.1.2 PKDMA receive side 495 14.2.1.3 Infrastructure PKDMA 497 14.2.2 Descriptors 497 14.2.2.1 Host packet descriptors 498 14.2.2.2 Monolithic packet descriptor 498 14.2.2.3 Setting up the memory regions for the descriptors 498 14.2.3 Queue Manager Subsystem 500 14.2.4 Queue Manager 503 14.2.4.1 Queue peek registers 503 14.2.4.2 Link RAM 504 14.2.5 Accumulator packet data structure processors 504 14.2.5.1 Accumulation 506 14.2.5.2 Quality of service 506 14.2.5.3 Event management (resource sharing and job load balancing) 506 14.2.6 Interrupt distributor module 506 14.3 Complete functionality of the Navigator 506 14.4 Laboratory experiment 511 14.5 Conclusion 513 References 514 15 FIR filter implementation 515 15.1 Introduction 515 15.2 Properties of an FIR filter 516 15.2.1 Filter coefficients 516 15.2.2 Frequency response of an FIR filter 516 15.2.3 Phase linearity of an FIR filter 517 15.3 Design procedure 518 15.3.1 Specifications 518 15.3.2 Coefficients calculation 519 15.3.2.1 Window method 519 15.3.3 Realisation structure 522 15.3.3.1 Direct structure 525 15.3.3.2 Linear phase structures 525 15.3.3.3 Cascade structures 527 15.4 Laboratory experiments 528 15.4.1 Filter implementation 529 15.4.2 Synchronisation 530 15.4.3 Building and running the DSP project 532 15.4.4 Building and running the PC project 534 15.5 Conclusion 540 References 540 16 IIR filter implementation 542 16.1 Introduction 542 16.2 Design procedure 543 16.3 Coefficients calculation 543 16.3.1 Pole–zero placement approach 543 16.3.2 Analogue-to-digital filter design 543 16.3.3 Bilinear transform (BZT) method 544 16.3.3.1 Practical example of the bilinear transform method 547 16.3.3.2 Coefficients calculation 547 16.3.3.3 Realisation structures 548 16.3.4 Impulse invariant method 552 16.3.4.1 Practical example of the impulse invariant method 553 16.4 IIR filter implementation 556 16.5 Laboratory experiment 561 16.6 Conclusion 561 Reference 562 17 Adaptive filter implementation 563 17.1 Introduction 563 17.2 Mean square error 564 17.3 Least mean square 565 17.4 Implementation of an adaptive filter using the LMS algorithm 565 17.5 Implementation using linear assembly 567 17.6 Implementation in C language with compiler switches 572 17.7 Laboratory experiment 572 17.8 Conclusion 573 References 573 18 FFT implementation 574 18.1 Introduction 574 18.2 FFT algorithm 574 18.2.1 Fourier series 574 18.2.2 Fourier transform 575 18.2.3 Discrete Fourier transform 575 18.2.4 Fast Fourier transform 576 18.2.4.1 Splitting the DFT into two DFTs 576 18.2.4.2 Exploiting the periodicity and symmetry of the twiddle factors 577 18.3 FFT implementation 579 18.4 Laboratory experiment 582 18.4.1 Part 1: Implementation of DIF FFT 582 18.4.2 Part 2: Using ping-pong EDMA 585 18.5 Conclusion 590 References 590 19 Hough transform 591 19.1 Introduction 591 19.2 Theory 591 19.3 Limits of r and θ 593 19.4 Hough transform implementation 595 19.5 Laboratory experiment 596 19.6 Conclusion 603 References 603 20 Stereo vision implementation 604 20.1 Introduction 604 20.2 Algorithm for performing depth calculation 605 20.3 Cost functions 606 20.4 Implementation 607 20.4.1 Laboratory experiment 610 20.4.1.1 SAD implementation 610 20.4.1.2 NCC implementation 611 20.4.1.3 ZNCC implementation 611 20.5 Conclusion 613 References 616 Index 617

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Book SynopsisIn this original book on model predictive control (MPC) for power electronics, the focus is put on high-power applications with multilevel converters operating at switching frequencies well below 1 kHz, such as medium-voltage drives and modular multi-level converters.Table of ContentsPreface xvii Acknowledgments xix List of Abbreviations xxi About the Companion Website xxvii Part I Introduction 1 Introduction 3 1.1 Industrial Power Electronics 3 1.1.1 Medium-Voltage, Variable-Speed Drives 3 1.1.2 Market Trends 5 1.1.3 Technology Trends 6 1.2 Control and Modulation Schemes 7 1.2.1 Requirements 7 1.2.2 State-of-the-Art Schemes 8 1.2.3 Challenges 9 1.3 Model Predictive Control 11 1.3.1 Control Problem 11 1.3.2 Control Principle 12 1.3.3 Advantages and Challenges 16 1.4 Research Vision and Motivation 19 1.5 Main Results 19 1.6 Summary of this Book 21 1.7 Prerequisites 25 References 26 2 Industrial Power Electronics 29 2.1 Preliminaries 29 2.1.1 Three-Phase Systems 29 2.1.2 Per Unit System 31 2.1.3 Stationary Reference Frame 33 2.1.4 Rotating Reference Frame 36 2.1.5 Space Vectors 40 2.2 Induction Machines 42 2.2.1 Machine Model in Space Vector Notation 42 2.2.2 Machine Model in Matrix Notation 44 2.2.3 Machine Model in the Per Unit System 45 2.2.4 Machine Model in State-Space Representation 48 2.2.5 Harmonic Model of the Machine 50 2.3 Power Semiconductor Devices 51 2.3.1 Integrated-Gate-Commutated Thyristors 51 2.3.2 Power Diodes 53 2.4 Multilevel Voltage Source Inverters 54 2.4.1 NPC Inverter 54 2.4.2 Five-Level ANPC Inverter 62 2.5 Case Studies 68 2.5.1 NPC Inverter Drive System 68 2.5.2 NPC Inverter Drive System with Snubber Restrictions 70 2.5.3 Five-Level ANPC Inverter Drive System 71 2.5.4 Grid-Connected NPC Converter System 72 References 75 3 Classic Control and Modulation Schemes 77 3.1 Requirements of Control and Modulation Schemes 77 3.1.1 Requirements Relating to the Electrical Machine 77 3.1.2 Requirements Relating to the Grid 80 3.1.3 Requirements Relating to the Converter 83 3.1.4 Summary 83 3.2 Structure of Control and Modulation Schemes 84 3.3 Carrier-Based Pulse Width Modulation 85 3.3.1 Single-Phase Carrier-Based Pulse Width Modulation 86 3.3.2 Three-Phase Carrier-Based Pulse Width Modulation 94 3.3.3 Summary and Properties 101 3.4 Optimized Pulse Patterns 103 3.4.1 Pulse Pattern and Harmonic Analysis 104 3.4.2 Optimization Problem for Three-Level Converters 107 3.4.3 Optimization Problem for Five-Level Converters 112 3.4.4 Summary and Properties 117 3.5 Performance Trade-Off for Pulse Width Modulation 117 3.5.1 Current TDD versus Switching Losses 118 3.5.2 Torque TDD versus Switching Losses 120 3.6 Control Schemes for Induction Machine Drives 121 3.6.1 Scalar Control 122 3.6.2 Field-Oriented Control 123 3.6.3 Direct Torque Control 130 Appendix 3.A: Harmonic Analysis of Single-Phase Optimized Pulse Patterns 139 Appendix 3.B: Mathematical Optimization 141 3.B.1 General Optimization Problems 142 3.B.2 Mixed-Integer Optimization Problems 142 3.B.3 Convex Optimization Problems 143 References 145 Part II Direct Model Predictive Control With Reference Tracking 4 Predictive Control with Short Horizons 153 4.1 Predictive Current Control of a Single-Phase RL Load 153 4.1.1 Control Problem 153 4.1.2 Prediction of Current Trajectories 154 4.1.3 Optimization Problem 156 4.1.4 Control Algorithm 156 4.1.5 Performance Evaluation 158 4.1.6 Prediction Horizons of more than 1 Step 161 4.1.7 Summary 163 4.2 Predictive Current Control of a Three-Phase Induction Machine 164 4.2.1 Case Study 164 4.2.2 Control Problem 165 4.2.3 Controller Model 166 4.2.4 Optimization Problem 167 4.2.5 Control Algorithm 168 4.2.6 Performance Evaluation 170 4.2.7 About the Choice of Norms 175 4.2.8 Delay Compensation 178 4.3 Predictive Torque Control of a Three-Phase Induction Machine 183 4.3.1 Case Study 183 4.3.2 Control Problem 184 4.3.3 Controller Model 184 4.3.4 Optimization Problem 185 4.3.5 Control Algorithm 186 4.3.6 Analysis of the Cost Function 187 4.3.7 Comparison of the Cost Functions for the Torque and Current Controllers 188 4.3.8 Performance Evaluation 191 4.4 Summary 193 References 194 5 Predictive Control with Long Horizons 195 5.1 Preliminaries 196 5.1.1 Case Study 196 5.1.2 Controller Model 197 5.1.3 Cost Function 197 5.1.4 Optimization Problem 198 5.1.5 Control Algorithm based on Exhaustive Search 200 5.2 Integer Quadratic Programming Formulation 201 5.2.1 Optimization Problem in Vector Form 201 5.2.2 Solution in Terms of the Unconstrained Minimum 202 5.2.3 Integer Quadratic Program 202 5.2.4 Direct MPC with a Prediction Horizon of 1 203 5.3 An Efficient Method for Solving the Optimization Problem 204 5.3.1 Preliminaries and Key Properties 205 5.3.2 Modified Sphere Decoding Algorithm 205 5.3.3 Illustrative Example with a Prediction Horizon of 1 207 5.3.4 Illustrative Example with a Prediction Horizon of 2 209 5.4 Computational Burden 211 5.4.1 Offline Computations 211 5.4.2 Online Preprocessing 211 5.4.3 Sphere Decoding 212 Appendix 5.A: State-Space Model 213 Appendix 5.B: Derivation of the Cost Function in Vector Form 214 References 216 6 Performance Evaluation of Predictive Control with Long Horizons 217 6.1 Performance Evaluation for the NPC Inverter Drive System 218 6.1.1 Framework for Performance Evaluation 218 6.1.2 Comparison at the Switching Frequency 250 Hz 220 6.1.3 Closed-Loop Cost 223 6.1.4 Relative Current TDD 225 6.1.5 Operation during Transients 231 6.2 Suboptimal MPC via Direct Rounding 232 6.3 Performance Evaluation for the NPC Inverter Drive System with an LC Filter 234 6.3.1 Case Study 235 6.3.2 Controller Model 237 6.3.3 Optimization Problem 237 6.3.4 Steady-State Operation 239 6.3.5 Operation during Transients 243 6.4 Summary and Discussion 245 6.4.1 Performance at Steady-State Operating Conditions 245 6.4.2 Performance during Transients 246 6.4.3 Cost Function 246 6.4.4 Control Objectives 247 6.4.5 Computational Complexity 247 Appendix 6.A: State-Space Model 248 Appendix 6.B: Computation of the Output Reference Vector 248 6.B.1 Step 1: Stator Frequency 248 6.B.2 Step 2: Inverter Voltage 249 6.B.3 Step 3: Output Reference Vector 250 References 251 Part III Direct Model Predictive Control With Bounds 7 Model Predictive Direct Torque Control 255 7.1 Introduction 255 7.2 Preliminaries 257 7.2.1 Case Study 257 7.2.2 Control Problem 259 7.2.3 Controller Model 259 7.2.4 Switching Effort 262 7.3 Control Problem Formulation 263 7.3.1 Naive Optimization Problem 263 7.3.2 Constraints 264 7.3.3 Cost Function 265 7.4 Model Predictive Direct Torque Control 266 7.4.1 Definitions 267 7.4.2 Simplified Optimization Problem 268 7.4.3 Concept of the Switching Horizon 268 7.4.4 Search Tree 274 7.4.5 MPDTC Algorithm with Full Enumeration 275 7.5 Extension Methods 277 7.5.1 Analysis of the State and Output Trajectories 278 7.5.2 Linear Extrapolation 279 7.5.3 Quadratic Extrapolation 280 7.5.4 Quadratic Interpolation 282 7.6 Summary and Discussion 284 Appendix 7.A: Controller Model of the NPC Inverter Drive System 286 References 287 8 Performance Evaluation of Model Predictive Direct Torque Control 289 8.1 Performance Evaluation for the NPC Inverter Drive System 289 8.1.1 Simulation Setup 290 8.1.2 Steady-State Operation 290 8.1.3 Operation during Transients 298 8.2 Performance Evaluation for the ANPC Inverter Drive System 300 8.2.1 Controller Model 301 8.2.2 Modified MPDTC Algorithm 303 8.2.3 Simulation Setup 304 8.2.4 Steady-State Operation 305 8.2.5 Operation during Transients 312 8.3 Summary and Discussion 314 Appendix 8.A: Controller Model of the ANPC Inverter Drive System 315 References 316 9 Analysis and Feasibility of Model Predictive Direct Torque Control 318 9.1 Target Set 319 9.2 The State-Feedback Control Law 320 9.2.1 Preliminaries 321 9.2.2 Control Law for a Given Rotor Flux Vector 322 9.2.3 Control Law along an Edge of the Target Set 331 9.3 Analysis of the Deadlock Phenomena 331 9.3.1 Root Cause Analysis of Deadlocks 332 9.3.2 Location of Deadlocks 335 9.4 Deadlock Resolution 337 9.5 Deadlock Avoidance 340 9.5.1 Deadlock Avoidance Strategies 340 9.5.2 Performance Evaluation 343 9.6 Summary and Discussion 347 9.6.1 Derivation and Analysis of the State-Feedback Control Law 347 9.6.2 Deadlock Analysis, Resolution, and Avoidance 347 References 348 10 Computationally Efficient Model Predictive Direct Torque Control 350 10.1 Preliminaries 351 10.2 MPDTC with Branch-and-Bound 352 10.2.1 Principle and Concept 352 10.2.2 Properties of Branch-and-Bound 354 10.2.3 Limiting the Maximum Number of Computations 356 10.2.4 Computationally Efficient MPDTC Algorithm 357 10.3 Performance Evaluation 359 10.3.1 Case Study 359 10.3.2 Performance Metrics during Steady-State Operation 359 10.3.3 Computational Metrics during Steady-State Operation 363 10.4 Summary and Discussion 367 References 368 11 Derivatives of Model Predictive Direct Torque Control 369 11.1 Model Predictive Direct Current Control 370 11.1.1 Case Study 370 11.1.2 Control Problem 372 11.1.3 Formulation of the Stator Current Bounds 373 11.1.4 Controller Model 376 11.1.5 Control Problem Formulation 378 11.1.6 MPDCC Algorithm 379 11.1.7 Performance Evaluation 380 11.1.8 Tuning 388 11.2 Model Predictive Direct Power Control 389 11.2.1 Case Study 391 11.2.2 Control Problem 392 11.2.3 Controller Model 393 11.2.4 Control Problem Formulation 394 11.2.5 Performance Evaluation 395 11.3 Summary and Discussion 401 11.3.1 Model Predictive Direct Current Control 401 11.3.2 Model Predictive Direct Power Control 403 11.3.3 Target Sets 403 Appendix 11.A: Controller Model used in MPDCC 405 Appendix 11.B: Real and Reactive Power 407 Appendix 11.C: Controller Model used in MPDPC 409 References 410 Part IV Model Predictive Control Based On Pulse Width Modulation 12 Model Predictive Pulse Pattern Control 415 12.1 State-of-the-Art Control Methods 415 12.2 Optimized Pulse Patterns 416 12.2.1 Summary, Properties, and Computation 416 12.2.2 Relationship between Flux Magnitude and Modulation Index 418 12.2.3 Relationship between Time and Angle 419 12.2.4 Stator Flux Reference Trajectory 420 12.2.5 Look-Up Table 422 12.3 Stator Flux Control 422 12.3.1 Control Objectives 422 12.3.2 Control Principle 422 12.3.3 Control Problem 423 12.3.4 Control Approach 424 12.4 MP3C Algorithm 425 12.4.1 Observer 426 12.4.2 Speed Controller 428 12.4.3 Torque Controller 428 12.4.4 Flux Controller 428 12.4.5 Pulse Pattern Loader 429 12.4.6 Flux Reference 429 12.4.7 Pulse Pattern Controller 429 12.5 Computational Variants of MP3C 433 12.5.1 MP3C based on Quadratic Program 433 12.5.2 MP3C based on Deadbeat Control 437 12.6 Pulse Insertion 438 12.6.1 Definitions 439 12.6.2 Algorithm 439 Appendix 12.A: Quadratic Program 443 Appendix 12.B: Unconstrained Solution 444 Appendix 12.C: Transformations for Deadbeat MP3C 445 References 446 13 Performance Evaluation of Model Predictive Pulse Pattern Control 447 13.1 Performance Evaluation for the NPC Inverter Drive System 447 13.1.1 Simulation Setup 447 13.1.2 Steady-State Operation 448 13.1.3 Operation during Transients 455 13.2 Experimental Results for the ANPC Inverter Drive System 462 13.2.1 Experimental Setup 462 13.2.2 Hierarchical Control Architecture 463 13.2.3 Steady-State Operation 465 13.3 Summary and Discussion 468 13.3.1 Differences to the State of the Art 469 13.3.2 Discussion 471 References 472 14 Model Predictive Control of a Modular Multilevel Converter 474 14.1 Introduction 474 14.2 Preliminaries 475 14.2.1 Topology 475 14.2.2 Nonlinear Converter Model 477 14.3 Model Predictive Control 479 14.3.1 Control Problem 479 14.3.2 Controller Structure 480 14.3.3 Linearized Prediction Model 481 14.3.4 Cost Function 481 14.3.5 Hard and Soft Constraints 483 14.3.6 Optimization Problem 484 14.3.7 Multilevel Carrier-Based Pulse Width Modulation 485 14.3.8 Balancing Control 486 14.4 Performance Evaluation 486 14.4.1 System and Control Parameters 486 14.4.2 Steady-State Operation 488 14.4.3 Operation during Transients 491 14.5 Design Parameters 496 14.5.1 Open-Loop Prediction Errors 496 14.5.2 Closed-Loop Performance 498 14.6 Summary and Discussion 499 Appendix 14.A: Dynamic Current Equations 501 Appendix 14.B: Controller Model of the Converter System 501 References 503 Part V Summary 15 Summary and Conclusion 507 15.1 Performance Comparison of Direct Model Predictive Control Schemes 507 15.1.1 Case Study 508 15.1.2 Performance Trade-Off Curves 508 15.1.3 Summary and Discussion 515 15.2 Assessment of the Control and Modulation Methods 519 15.2.1 FOC and VOC with SVM 519 15.2.2 DTC and DPC 519 15.2.3 Direct MPC with Reference Tracking 520 15.2.4 Direct MPC with Bounds 521 15.2.5 MP3C based on OPPs 521 15.2.6 Indirect MPC 523 15.3 Conclusion 524 15.4 Outlook 525 References 525

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Book SynopsisThe definitive international reference work on how communication technology and media phenomena affect human psychology. The International Encyclopedia of Media Psychology provides a thorough guide to the foundational theories and the exciting new developments within this dynamic fielda growing area of study that investigates how and why human behavior is influenced by interacting with media and technology. Covering a wide range of interdisciplinary methodologies, this comprehensive reference work explores how media affects psychological responses, the ways these responses interact with media variables, and the various methods of empirical analysis for developing models of users' processing of their media experience. Edited by an internationally-recognized expert in the field, the Encyclopedia contains more than 300 entries written by leading figures and promising young researchers alike, exploring flow theory, media aggression, the Reinforcing Spirals MoTable of ContentsVolume I The International Communication Association vii About the Editors ix Contributors xi Alphabetical List of Entries xxv Thematic List of Entries xxxi Introduction xxxvii Media Psychology A–? 1 Volume II Media Psychology ?–? 000 Volume III Media Psychology ?–Y 000 Index 1987

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Book SynopsisThis book covers the design and optimization of computer networks applying a rigorous optimization methodology, applicable to any network technology. It is organized into two parts. In Part 1 the reader will learn how to model network problems appearing in computer networks as optimization programs, and use optimization theory to give insights on them. Four problem types are addressed systematically traffic routing, capacity dimensioning, congestion control and topology design. Part 2 targets the design of algorithms that solve network problems like the ones modeled in Part 1. Two main approaches are addressed gradient-like algorithms inspiring distributed network protocols that dynamically adapt to the network, or cross-layer schemes that coordinate the cooperation among protocols; and those focusing on the design of heuristic algorithms for long term static network design and planning problems. Following a hands-on approach, the reader will have access to a large sTrade Review�This is an exceptional textbook smoothly linking optimization theory with practical issues of computer network design�Almost all chapters contain a special section entitled �Notes and Sources� reviewing the key literature, a set of exercises for students, and a comprehensive list of references. The book is full of useful design hints, lists of potential problems facing designers, as well as illustrative examples. Unlike many textbooks on optimization, this work smartly combines the depth of mathematical analysis with a very good understanding of practical engineering issues. One of the important added values of this book is that the code of the devised algorithms implemented in the Net2Plan tool is accessible and algorithm convergence of the case studies is illustrated in empirical tests. To sum it up, this is an excellent textbook not only for engineering students but also for researchers and practicing engineers working in the area of computer and telecommunication network design.� - Andrzej Jajszczyk, AGH University of Science and Technology in Krakow, PolandTable of ContentsAbout the Author xv Preface xvii Acknowledgments xxi 1 Introduction 1 1.1 What is a Communication Network? 1 1.2 Capturing the Random User Behavior 4 1.3 Queueing Theory and Optimization Theory 5 1.4 The Rationale and Organization of this Book 6 1.4.1 Part I: Modeling 6 1.4.2 Part II: Algorithms 7 1.4.3 Basic Optimization Requisites: Appendices I, II, and III 10 1.4.4 Net2Plan Tool: Appendix IV 11 Part I MODELING 2 Definitions and Notation 15 2.1 Notation for Sets, Vectors and Matrices 15 2.1.1 Norm Basics 15 2.1.2 Set Basics 16 2.2 Network Topology 17 2.3 Installed Capacities 19 2.4 Traffic Demands 19 2.4.1 Unicast, Anycast, and Multicast Demands 20 2.4.2 Elastic versus Inelastic Demands 21 2.5 Traffic Routing 21 References 22 3 Performance Metrics in Networks 23 3.1 Introduction 23 3.2 Delay 23 3.2.1 Link Delay 23 3.2.2 End-to-End Delay 27 3.2.3 Average Network Delay 27 3.2.4 Convexity Properties 27 3.3 Blocking Probability 28 3.3.1 Link Blocking Probability 28 3.3.2 Demand and Network Blocking Probability 30 3.3.3 Other Blocking Estimations 31 3.3.4 Convexity Properties 34 3.4 Average Number of Hops 34 3.5 Network Congestion 36 3.6 Network Cost 36 3.7 Network Resilience Metrics 37 3.7.1 Shared Risk Groups 40 3.7.2 Simplified Availability Calculations 41 3.7.3 General Model 41 3.8 Network Utility and Fairness in Resource Allocation 44 3.8.1 Fairness in Resource Allocation 44 3.8.2 Fairness and Utility Functions 45 3.8.3 Convexity Properties 47 3.9 Notes and Sources 47 3.10 Exercises 49 References 51 4 Routing Problems 53 4.1 Introduction 53 4.2 Flow-Path Formulation 54 4.2.1 Optimality Analysis 55 4.2.2 Candidate Path List Pre-Computation 58 4.2.3 Ranking of Paths Elaboration 58 4.2.4 Candidate Path List Augmentation (CPLA) 59 4.3 Flow-Link Formulation 61 4.3.1 Flow Conservation Constraints 62 4.3.2 Obtaining the Routing from xde Variables 63 4.3.3 Optimality Analysis 64 4.4 Destination-Link Formulation 65 4.4.1 Obtaining the Routing Tables from xte Variables 67 4.4.2 Some Properties of the Routing Table Representation 67 4.4.3 Comparing Flow-Based and Destination-Based Routing 71 4.5 Convexity Properties of Performance Metrics 71 4.6 Problem Variants 72 4.6.1 Anycast Routing 72 4.6.2 Multicast Routing 74 4.6.3 Non-Bifurcated Routing 75 4.6.4 Integral Routing 77 4.6.5 Destination-Based Shortest Path Routing 77 4.6.6 SRG-Disjoint 1+1 Dedicated Protection Routing 79 4.6.7 Shared Restoration Routing 80 4.6.8 Multi-Hour Routing 81 4.7 Notes and Sources 83 4.8 Exercises 83 References 86 5 Capacity Assignment Problems 88 5.1 Introduction 88 5.2 Long-Term Capacity Planning Problem Variants 89 5.2.1 Capacity Planning for Concave Costs 89 5.2.2 Capacity Planning with Modular Capacities 94 5.2.3 Multi-Period Capacity Planning 97 5.3 Fast Capacity Allocation Problem Variants: Wireless Networks 98 5.3.1 The Wireless Channel 99 5.3.2 Wireless Networks 100 5.3.3 Modeling Wireless Networks 101 5.4 MAC Design in Hard-Interference Scenarios 104 5.4.1 Optimization in Random Access Networks 105 5.4.2 Optimization in Carrier-Sense Networks 109 5.5 Transmission Power Optimization in Soft Interference Scenarios 113 5.6 Notes and Sources 116 5.7 Exercises 117 References 118 6 Congestion Control Problems 120 6.1 Introduction 120 6.2 NUM Model 121 6.2.1 Utility Functions for Elastic and Inelastic Traffic 121 6.2.2 Fair Congestion Control 122 6.2.3 Optimality Conditions 123 6.3 Case Study: TCP 124 6.3.1 Window-Based Flow Control 125 6.3.2 TCP Reno 126 6.3.3 TCP Vegas 131 6.4 Active Queue Management (AQM) 134 6.4.1 A Simplified Model of the TCP-AQM Interplay 135 6.5 Notes and Sources 136 6.6 Exercises 137 References 139 7 Topology Design Problems 141 7.1 Introduction 141 7.2 Node Location Problems 142 7.2.1 Problem Variants 143 7.2.2 Results 144 7.3 Full Topology Design Problems 146 7.3.1 Problem Variants 148 7.3.2 Results 150 7.4 Multilayer Network Design 152 7.5 Notes and Sources 154 7.6 Exercises 154 References 157 Part II ALGORITHMS 8 Gradient Algorithms in Network Design 161 8.1 Introduction 161 8.2 Convergence Rates 163 8.3 Projected Gradient Methods 164 8.3.1 Basic Gradient Projection Algorithm 165 8.3.2 Scaled Projected Gradient Method 165 8.3.3 Singular and Ill-Conditioned Problems 168 8.4 Asynchronous and Distributed Algorithm Implementations 169 8.5 Non-Smooth Functions 172 8.6 Stochastic Gradient Methods 174 8.7 Stopping Criteria 176 8.8 Algorithm Design Hints 177 8.8.1 Dimensioning the Step Size 177 8.8.2 Discrete Step Length 178 8.8.3 Heavy-Ball Methods 179 8.9 Notes and Sources 181 8.10 Exercises 181 References 182 9 Primal Gradient Algorithms 184 9.1 Introduction 184 9.2 Penalty Methods 185 9.2.1 Interior Penalty Methods 185 9.2.2 Exterior Penalty Methods 186 9.3 Adaptive Bifurcated Routing 188 9.3.1 Removing Equality Constraints 189 9.3.2 Optimality and Stability 190 9.3.3 Implementation Example 192 9.4 Congestion Control using Barrier Functions 197 9.4.1 Implementation Example 198 9.4.2 Exterior Penalty 200 9.5 Persistence Probability Adjustment in MAC Protocols 201 9.5.1 Implementation Example 203 9.6 Transmission Power Assignment in Wireless Networks 205 9.6.1 Implementation Example 207 9.7 Notes and Sources 210 9.8 Exercises 211 References 213 10 Dual Gradient Algorithms 214 10.1 Introduction 214 10.2 Adaptive Routing in Data Networks 217 10.2.1 Optimality and Stability 219 10.2.2 Implementation Example 219 10.3 Backpressure (Center-Free) Routing 221 10.3.1 Relation between 𝛾, ΔP, and Average Queue Sizes, Qnd 224 10.3.2 Implementation Example 225 10.4 Congestion Control 228 10.4.1 Optimality and Stability Conditions 229 10.4.2 Implementation Example 230 10.5 Decentralized Optimization of CSMA Window Sizes 231 10.5.1 Implementation Example 234 10.6 Notes and Sources 236 10.7 Exercises 236 References 238 11 Decomposition Techniques 240 11.1 Introduction 240 11.2 Theoretical Fundamentals 241 11.2.1 Primal Decomposition 241 11.2.2 Dual Decomposition 244 11.2.3 Other Decompositions 246 11.3 Cross-Layer Congestion Control and QoS Capacity Allocation 247 11.3.1 Implementation Example 249 11.4 Cross-Layer Congestion Control and Backpressure Routing 249 11.4.1 Implementation Example 252 11.5 Cross-Layer Congestion Control and Power Allocation 253 11.5.1 Implementation Example 254 11.6 Multidomain Routing 256 11.6.1 Implementation Example 258 11.7 Dual Decomposition in Non-Convex Problems 259 11.7.1 Implementation Example 261 11.8 Notes and Sources 261 11.9 Exercises 263 References 265 12 Heuristic Algorithms 266 12.1 Introduction 266 12.1.1 What Complexity Theory Tells us that We cannot Do 266 12.1.2 Our Options 267 12.1.3 Organization and Rationale of this Chapter 268 12.2 Heuristic Design Keys 270 12.2.1 Heuristic Types 270 12.2.2 Intensification versus Diversification 271 12.2.3 How to Assess the Solution Quality 271 12.2.4 Stop Conditions 272 12.2.5 Defining the Cost or Fitness Function 272 12.2.6 Coding the Solution 273 12.3 Local Search Algorithms 273 12.3.1 Design Hints 274 12.4 Simulated Annealing 276 12.4.1 Design hints 277 12.5 Tabu Search 278 12.5.1 Design Hints 280 12.6 Greedy Algorithms 281 12.7 GRASP 282 12.8 Ant Colony Optimization 283 12.8.1 Design Hints 286 12.9 Evolutionary Algorithms 288 12.9.1 Design Hints 289 12.10 Case Study: Greenfield Plan with Recovery Schemes Comparison 291 12.10.1 Case Study Description 291 12.10.2 Algorithm Description 293 12.10.3 Combining Heuristics and ILPs 295 12.10.4 Results 296 12.11 Notes and Sources 297 12.12 Exercises 297 References 299 A Convex Sets. Convex Functions 301 A.1 Convex Sets 301 A.2 Convex and Concave Functions 303 A.2.1 Convexity in Differentiable Functions 303 A.2.2 Strong Convexity/Concavity 306 A.2.3 Convexity in Non-Differentiable Functions 306 A.2.4 Determining the Curvature of a Function 307 A.2.5 Sub-level Sets 310 A.2.6 Epigraphs 311 A.3 Notes and Sources 311 Reference 312 B Mathematical Optimization Basics 313 B.1 Optimization Problems 313 B.2 A Classification of Optimization Problems 315 B.2.1 Linear Programming 315 B.2.2 Convex Programs 318 B.2.3 Nonlinear Programs 320 B.2.4 Integer Programs 321 B.3 Duality 324 B.3.1 Dual Function 324 B.4 Optimality Conditions 330 B.4.1 Optimality Conditions in Problems with Strong Duality 330 B.4.2 Graphical Interpretation of KKT Conditions 333 B.4.3 Optimality Conditions in Problems Without Strong Duality 336 B.5 Sensitivity Analysis 337 B.6 Notes and Sources 339 References 340 C Complexity Theory 341 C.1 Introduction 341 C.2 Deterministic Machines and Deterministic Algorithms 342 C.2.1 Complexity of a Deterministic Algorithm 342 C.2.2 Worst-Case Algorithm Complexity 343 C.2.3 Asymptotic Algorithm Complexity 343 C.2.4 Complexity is a Real Barrier 345 C.3 Non-Deterministic Machines and Non-Deterministic Algorithms 346 C.3.1 Complexity of a Non-Deterministic Algorithm 347 C.4 N and NP Complexity Classes 347 C.5 Polynomial Reductions 349 C.5.1 A Polynomial Time Reduction Example 350 C.6 NP-Completeness 351 C.6.1 An Example Proving NP-Completeness for a Problem 352 C.7 Optimization Problems and Approximation Schemes 352 C.7.1 The NPʘ Class 353 C.7.2 Approximation Algorithms 354 C.7.3 PTAS Reductions 356 C.7.4 NPʘ-Complete Problems 356 C.8 Complexity of Network Design Problems 357 C.9 Notes and Sources 357 References 358 D Net2Plan 359 D.1 Net2Plan 359 D.2 On the Role of Net2Plan in this Book 360 Index 363

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Book SynopsisThis book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and Table of ContentsPreface ix 1 Introduction 1 1.1 Distributed Coverage Control of Mobile Sensor and Actuator Networks 1 1.2 Overview of the Book 4 1.3 Some Other Remarks 6 2 Barrier Coverage between Two Landmarks 9 2.1 Introduction 9 2.2 Problem of Barrier Coverage between Two Landmarks 10 2.3 Distributed SelfDeployment Algorithm for Barrier Coverage 12 2.4 Illustrative Examples 14 3 Multi-level Barrier Coverage 17 3.1 Introduction 17 3.2 Problem of KBarrier Coverage 18 3.3 Distributed Algorithm for KBarrier Coverage 22 3.4 Mathematical Analysis of the KBarrier Coverage Algorithm 25 3.5 Illustrative Examples 28 4 Problems of Barrier and Sweep Coverage in Corridor Environments 33 4.1 Introduction 33 4.2 Corridor Coverage Problems 34 4.2.1 Barrier Coverage 35 4.2.2 Sweep Coverage 37 4.3 Barrier Coverage in 1D Space 38 4.4 Corridor Barrier Coverage 39 4.5 Corridor Sweep Coverage 42 4.6 Illustrative Examples 43 5 Sweep Coverage along a Line 57 5.1 Introduction 57 5.2 Problem of Sweep Coverage along a Line 60 5.3 Sweep Coverage along a Line 63 5.4 Assumptions and the Main Results 68 5.5 Illustrative Examples 72 5.5.1 StraightLine Sweeping Paths 73 5.5.2 Comparison with the Potential Field Approach 73 5.5.3 Sweep Coverage along Nonstraight Lines 74 5.5.4 Scalability 75 5.5.5 Measurement Noises 76 5.5.6 Sea Exploration 77 5.6 Proofs of the Technical Facts Underlying Theorem 5.1 79 6 Optimal Distributed Blanket Coverage Problem 87 6.1 Introduction 87 6.2 Blanket Coverage Problem Formulation 88 6.3 Randomized Coverage Algorithm 90 6.4 Illustrative Examples 93 7 Distributed Self-Deployment for Forming a Desired Geometric Shape 97 7.1 Introduction 97 7.2 SelfDeployment on a Square Grid 98 7.3 Illustrative Examples: Square Grid Deployment 103 7.4 SelfDeployment in a Desired Geometric Shape 104 7.5 Illustrative Examples: Various Geometric Shapes 105 7.5.1 Circular Formation 106 7.5.2 Ellipse Formation 106 7.5.3 Rectangular Formation 108 7.5.4 Ring Formation 108 7.5.5 Regular Hexagon Formation 112 8 Mobile Sensor and Actuator Networks: Encircling, Termination and Hannibal’s Battle of Cannae Maneuver 113 8.1 Introduction 113 8.2 Encircling Coverage of a Moving Region 115 8.3 Randomized Encircling Algorithm 117 8.4 Termination of a Moving Region by a Sensor and Actuator Network 119 8.5 Illustrative Examples 120 9 Asymptotically Optimal Blanket Coverage between Two Boundaries 129 9.1 Introduction 129 9.2 Problem of Blanket Coverage between Two Lines 133 9.3 Blanket Coverage Algorithm 137 9.3.1 Description 138 9.3.2 Control Laws 138 9.3.3 Algorithm Convergence 144 9.4 Triangular Blanket Coverage between Curves 145 9.5 Illustrative Examples 148 9.6 Proof of Theorem 9.2 149 10 Distributed Navigation for Swarming with a Given Geometric Pattern 157 10.1 Introduction 157 10.2 Navigation for Swarming Problem 159 10.3 Distributed Navigation Algorithm 161 10.3.1 First Stage 161 10.3.2 Second Stage 165 10.3.3 Behavior of the Proposed Algorithm 168 10.4 Illustrative Examples and Computer Simulation Results 168 10.5 Theoretical Analysis of the Algorithm 171 References 181 Index 191

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Book SynopsisProvides coverage of Motor Current Signature Analysis (MCSA) for cage induction motors This book is primarily for industrial engineers. It has 13 chapters and contains a unique data base of 50 industrial case histories on the application of MCSA to diagnose broken rotor bars or unacceptable levels of airgap eccentricity in cage induction motors with ratings from 127 kW (170 H.P.) up to 10,160 kW (13,620 H.P.). There are also unsuccessful case histories, which is another unique feature of the book. The case studies also illustrate the effects of mechanical load dynamics downstream of the motor on the interpretation of current signatures. A number of cases are presented where abnormal operation of the driven load was diagnosed. Chapter 13 presents a critical appraisal of MCSA including successes, failures and lessons learned via industrial case histories. The case histories are presented in a step by step format, with predictions and outcomes supported by cuTable of ContentsABOUT THE AUTHORS xiii OBITUARY TO IAN CULBERT xv ACKNOWLEDGMENTS xvii FOREWORD xix PREFACE xxiii NOMENCLATURE xxvii ACRONYMS AND ABBREVIATIONS xxxiii RELEVANT UNITS OF EQUIVALENCE USEFUL FOR THIS BOOK xxxv CHAPTER 1 MOTOR CURRENT SIGNATURE ANALYSIS FOR INDUCTION MOTORS 1 1.0 Introduction 1 1.1 Historical Development of MCSA and Goals of This Book 4 1.2 Basic Theory of Operation of the 3-Phase Induction Motor 6 1.3 Starting and Run-Up Characteristics of SCIMs 20 1.4 Illustrations of Construction of a Large HV SCIM 29 1.5 Questions 33 References 34 CHAPTER 2 DESIGN, CONSTRUCTION, AND MANUFACTURE OF SQUIRREL CAGE ROTORS 39 2.0 Introduction 39 2.1 Aluminum and Copper Die-Cast Windings 40 2.2 Fabricated Squirrel Cage Windings 43 2.3 Design and Manufacturing Features of Squirrel Cage Rotor Windings to Minimize Failures 52 2.4 Questions 53 References 54 CHAPTER 3 CAUSES OF BREAKS IN SQUIRREL CAGE WINDINGS DURING DIRECT-ON-LINE STARTS AND STEADY-STATE OPERATION 55 3.0 Introduction 55 3.1 Mechanical Stresses and Consequential Forces on Rotor Bars and End Rings 56 3.2 Thermal Stresses in the Rotor Bars and End Rings 57 3.3 Broken Bars and End Rings Due to Combined Mechanical and Thermal Stresses When Starting High Inertia Loads 59 3.4 Rotor Bar Stresses Resulting from a Loose Slot Fit 60 3.5 Strengths and Weaknesses of Certain Bar and End Ring Shapes and Types of Joints 62 3.6 Pulsating Loads Due to Crushers and Compressors 62 3.7 Direct-On-Line Starting of Large Induction Motors Driving High Inertia Fans 63 3.8 Direct-On-Line Starting of Large Induction Motors Driving Centrifugal Pumps 66 3.9 Limitations on Repetitive Motor Starts 68 3.10 Criteria for Design of Squirrel Cage Rotor Windings 69 3.11 Samples of Breaks in Squirrel Cage Rotor Windings 72 3.12 Questions 77 References 77 Further Reading 78 CHAPTER 4 MOTOR CURRENT SIGNATURE ANALYSIS (MCSA) TO DETECT CAGE WINDING DEFECTS 79 4.0 Summary 79 4.1 Introduction 79 4.2 Derivation of Current Component at f (1 − 2s) 82 4.3 Reasons for Current Component at f (1 + 2s) 83 4.4 Spectrum Analysis of Current 85 4.5 Severity Indicators for Assessing Condition of Cage Windings at Full-Load 93 4.6 The dB Broken Bar Severity Chart 110 4.7 Influence of Number of Rotor Bars and Pole Number on the Equivalent Broken Bar Factor with Measured dB Difference Values 111 4.8 Questions 116 References 118 CHAPTER 5 MCSA INDUSTRIAL CASE HISTORIES—DIAGNOSIS OF CAGE WINDING DEFECTS IN SCIMs DRIVING STEADY LOADS 119 5.0 Introduction and Summary of Case Histories 119 5.1 Case History (2000–2014)—Summary and Key Features 120 5.2 Case History (1983)—Summary and Key Features 122 5.3 Case History (1982)—Summary and Key Features 125 5.4 Case History (2002)—Summary and Key Features 128 5.5 Case History (1985–1987)—Summary and Key Features 133 5.6 Case History (2006)—Summary and Key Features 136 5.7 MCSA Case History (2004)—Summary and Key Features 139 5.8 MCSA Case History (2004)—Summary and Key Features 141 5.9 Questions 143 References 144 CHAPTER 6 MCSA CASE HISTORIES—DIAGNOSIS OF CAGE WINDING DEFECTS IN SCIMs FITTED WITH END RING RETAINING RINGS 147 6.0 Introduction and Summary of Case Histories 147 6.1 Case History (2006)—Summary 148 6.2 Concluding Remarks on this Challenging Case History 160 6.3 Case History (1990)—Summary and Key Features 161 6.4 Summary and Lessons Learned from Industrial Case Histories in Chapters 5 and 6 166 6.5 Questions 170 References 172 CHAPTER 7 MCSA CASE HISTORIES—CYCLIC LOADS CAN CAUSE FALSE POSITIVES OF CAGE WINDING BREAKS 173 7.1 Introduction and Summary of Case Histories 173 7.2 Case History (2006)—Effect of Gas Recycling in a Centrifugal Gas Compressor and the Detection of Broken Rotor Bars 179 7.3 Case History: False Positive of Broken Rotor Bars Due to Recycling of Gas in a Centrifugal Compressor 180 7.4 Two Case Histories (2002 and 2013)—Broken Rotor Bars in the Same SCIM without and with Gas Recycling in a Gas Compressor 185 7.5 Case History 1986–Fluid Coupling Dynamics Caused a False Positive of a Cage Winding Break 193 7.6 Questions 198 References 200 CHAPTER 8 MCSA CASE HISTORIES—SCIM DRIVES WITH SLOW SPEED GEARBOXES AND FLUCTUATING LOADS CAN GIVE FALSE POSITIVES OF BROKEN ROTOR BARS 201 8.1 Introduction and Summary of Case Histories 201 8.2 Case History (1989)—Slow Speed Coal Conveyor, Load Fluctuations, and Gearbox in the Drive Train 213 8.3 MCSA Case History (1990)—Possible False Positive of Broken Rotor Bars in a SCIM Driving a Coal Conveyor Via a Slow Speed Gearbox 216 8.4 Case History (1992)—Impossible to Analyze MCSA Data Due to Severe Random Current Fluctuations from The Mechanical Load Dynamics from the Coal Crusher 217 8.5 Case History (1995)—Successful Assessment of Cage Windings When the Load Current Fluctuations are Normal from a SCIM Driving Coal Crusher 221 8.6 Two Case Histories (2015)—False Positive of Broken Bars in One of the SCIMs Driving Thrusters on an FPSO If Influence of Drive Dynamics is Discounted 227 8.7 Questions 237 References 238 CHAPTER 9 MISCELLANEOUS MCSA CASE HISTORIES 241 9.0 Introduction and Summary of Case Histories 241 9.1 Possible False Positives of Cage Winding Breaks in Two 1850 kW SCIMs, Due to Number of Poles (2p) Equal to Number of Spider Support Arms (Sp) on Shaft (1991) 242 9.2 Case History (2007)—SCIM with Number of Poles Equal to Number of Kidney Shaped Axial Ducts in the Rotor—False Positive of Broken Bars Prevented by Load Changes 251 9.3 Two Case Histories (2005–2008)—Normal and Abnormal Pumping Dynamics in Two SCIM Seawater Lift Pump Drive Trains 253 9.4 MCSA Case History (2006–2007)—Slack and Worn Belt Drives in Two SCIM Cooling Fan Drives in a Cement Factory 259 9.5 Application of MCSA to Inverter-FED LV and HV SCIMs 263 9.6 Case History (1990)—Assessment of the Mechanical Operational Condition of an Electrical Submersible Pump (ESP) Driven by a SCIM Used in Artificial Oil Lift 267 9.7 Questions 270 References 271 CHAPTER 10 MCSA TO ESTIMATE THE OPERATIONAL AIRGAP ECCENTRICITY IN SQUIRREL CAGE INDUCTION MOTORS 273 10.0 Summary and Introduction 273 10.1 Definition of Airgap Eccentricity 274 10.2 Causes and Associated Types of Airgap Eccentricity 276 10.3 Unbalanced Magnetic Pull (UMP) and Rotor Pull-Over 281 10.4 Current Signature Pattern due to Airgap Eccentricity 284 10.5 Questions 294 References 295 CHAPTER 11 CASE HISTORIES—SUCCESSFUL AND UNSUCCESSFUL APPLICATION OF MCSA TO ESTIMATE OPERATIONAL AIRGAP ECCENTRICITY IN SCIMS 299 11.0 Summary and List of Case Histories 299 11.1 Flow Chart of MCSA Procedure to Estimate Operational Airgap Eccentricity 300 11.2 Case History (1989)—Low Level of Airgap Eccentricity in a SCIM Driving a Centrifugal Air Compressor 302 11.3 Two Case Histories (2004)—Operational Airgap Eccentricity in Nominally Identical SCIMs Driving Pumps in a CCGT Power Station 307 11.4 Four Case Histories (2005)—Abnormal Level of Airgap Eccentricity in a Large, Low Speed, HV Motor Driving a Cooling Water Pump in a Power Station 310 11.5 Case History (1988)—High Level of Airgap Eccentricity in an HV SCIM Driving a Pump in a Large Oil Storage Tank Facility 318 11.6 Case History (2001)—High Airgap Eccentricity in a Cooling Water Pump Motor that Caused Severe Mechanical Damage to HV Stator Coils 324 11.7 Case History (2008)—Unsuccessful Application of MCSA Applied to a Large (6300 kW), Inverter-FED, 6600 V SCIM During a No-Load Run to Assess Its Operational Airgap Eccentricity 332 11.8 Case History (2008)—Successful Application of MCSA Applied to a Large (4500 kW), Inverter-Fed, 3300 V SCIM to Assess its Operational Airgap Eccentricity 335 11.9 Case History (2007)—Advanced MCSA Interpretation of Current Spectra Was Required to Verify High Airgap Eccentricity in an HV SCIM Driving a Primary Air (PA) Fan in a Power Station 339 11.10 Case History (1990)—Unsuccessful MCSA Case History to Assess Operational Airgap Eccentricity in an HV SCIM Driving a Slow Speed Reciprocating Compressor 343 11.11 Case History (2002)—Predict Number of Rotor Slots and Assessment of Operational Airgap Eccentricity in a Large 6600 V, 6714 kW/9000 HP SCIM Driving a Centrifugal Compressor 347 11.12 Questions 353 References 357 CHAPTER 12 CRITICAL APPRAISAL OF MCSA TO DIAGNOSE SHORT CIRCUITED TURNS IN LV AND HV STATOR WINDINGS AND FAULTS IN ROLLER ELEMENT BEARINGS IN SCIMS 359 12.1 Summary 359 12.2 Shorted Turns in HV Stator Winding Coils 361 12.3 Detection of Shorted Turns Via MCSA under Controlled Experimental Conditions 364 12.4 Detection of Defects in Roller Element Bearings Via MCSA 368 12.5 Questions 371 References 372 CHAPTER 13 APPRAISAL OF MCSA INCLUDING LESSONS LEARNED VIA INDUSTRIAL CASE HISTORIES 375 13.1 Summary of MCSA in Industry to Diagnose Cage Winding Breaks 375 13.2 Flow Chart for Measurement and Analysis of Current to Diagnose Cage Winding Breaks 375 13.3 MCSA to Diagnose Broken Rotor Bars in SCIMs Driving Steady Loads 379 13.4 Number of Rotor Bars, External Constraints, and Lessons Learned 380 13.5 Effect of End Ring Retaining Rings (ERRS) on Diagnosis of Broken Rotor Bars 381 13.6 MCSA Applied to SCIMs Driving Complex Mechanical Plant, Lessons Learned, and Recommendations 382 13.7 Double Cage Rotors—Classical MCSA can only Detect Cage Winding Breaks in Inner Run Winding 382 13.8 MCSA to Diagnose Operational Levels of Airgap Eccentricity in SCIMs 383 13.9 Recommendations to End Users 385 13.10 Suggested Research and Development Projects 386 References 388 Appendix 13.A Commentary on Interpretation of LV and HV Used in SCIMs 388 LIST OF EQUATIONS 389 INDEX 393

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Book SynopsisProvides insight on both classical means and new trends in the application of power electronic and artificial intelligence techniques in power system operation and control This book presents advanced solutions for power system controllability improvement, transmission capability enhancement and operation planning.Table of ContentsContributors xxi Foreword xxiii Acknowledgments xxv Chapter 1 Introduction 1 Mircea Eremia, Chen-Ching Liu, and Abdel-Aty Edris Part I HVDC Transmission Mircea Eremia Chapter 2 Power Semiconductor Devices for HVDC and Facts Systems 11 Remus Teodorescu and Mircea Eremia 2.1 Power Semiconductor Overview 12 2.2 Converter Types 21 2.3 HVDC Evolution 23 2.4 FACTS Evolution 30 References 33 Chapter 3 CSC–HVDC Transmission 35 Mircea Eremia and Constantin Bulac 3.1 Structure and Configurations 35 3.2 Converter Bridge Modeling 47 3.3 Control of CSC–HVDC Transmission 59 3.4 Reactive Power and Harmonics 78 3.5 Load Flow in Mixed HVAC/HVDC-CSC Systems 91 3.6 Interaction Between AC and DC Systems 96 3.7 Comparison Between DC and AC Transmission 101 3.8 Application on a CSC–HVDC Link 109 Appendix 3.1 CSC–HVDC Systems in the World 118 References 123 Chapter 4 VSC–HVDC Transmission 125 Mircea Eremia, Jos´e Antonio Jardini, Guangfu Tang, and Lucian Toma 4.1 VSC Converter Structures 126 4.2 Modulation Techniques 151 4.3 DC/AC Converter Analysis 166 4.4 VSC Transmission Scheme and Operation 188 4.5 Multiterminal VSC–HVDC Systems and HVDC Grids 203 4.6 Load Flow and Stability Analysis 221 4.7 Comparison of CSC–HVDC Versus VSC–HVDC Transmission 246 4.8 Forward to Supergrid 249 Appendix 4.1 VSC–HVDC Projects Around the World 261 Appendix 4.2 Examples of VSC–HVDC One-Line Diagrams 263 References 263 Part II Facts Technologies Abdel-Aty Edris and Mircea Eremia Chapter 5 Static VAr Compensator (SVC) 271 Mircea Eremia, Aniruddha Gole, and Lucian Toma 5.1 Generalities 271 5.2 Thyristor-Controlled Reactor 273 5.3 Thyristor-Switched Capacitor 284 5.4 Configurations of SVC 287 5.5 Control of SVC Operation 294 5.6 SVC Modeling 296 5.7 Placement of SVC 312 5.8 Applications of SVC 314 5.9 SVC Installations Worldwide 324 References 337 Chapter 6 Series Capacitive Compensation 339 Mircea Eremia and Stig Nilsson 6.1 Generalities 339 6.2 Mechanical Commutation-Based Series Devices 339 6.3 Static-Controlled Series Capacitive Compensation 342 6.4 Control Schemes for the TCSC 365 6.5 TCSC Modeling 370 6.6 Applications of TSSC/TCSC Installations 382 6.7 Series Capacitors Worldwide 387 Appendix 6.1 TCSC Systems Around the World 404 References 405 Chapter 7 Phase Shifting Transformer: Mechanical and Static Devices 409 Mylavarapu Ramamoorty and Lucian Toma 7.1 Introduction 409 7.2 Mechanical Phase Shifting Transformer 410 7.3 Thyristor-Controlled Phase Shifting Transformer 428 7.4 Applications of the Phase Shifting Transformers 439 7.5 Phase Shifting Transformer Projects Around the World 450 References 456 Chapter 8 Static Synchronous Compensator – Statcom 459 Rafael Mihalic, Mircea Eremia, and Bostjan Blazic 8.1 Principles and Topologies of Voltage Source Converter 459 8.2 STATCOM Operation 473 8.3 STATCOM Modeling 476 8.4 STATCOM Applications 506 8.5 STATCOM Installations in Operation 515 References 524 Chapter 9 Static Synchronous Series Compensator (SSSC) 527 Laszlo Gyugyi, Abded-Aty Edris, and Mircea Eremia 9.1 Introduction 527 9.2 Architecture and Operating Principles 528 9.3 Comparison of SSSC with Other Technologies 533 9.4 Components of an SSSC 540 9.5 SSSC Modeling 546 9.6 Applications 551 9.7 SSSC Installation 552 References 556 Chapter 10 Unified Power Flow Controller (UPFC) 559 Laszlo Gyugyi 10.1 Introduction 559 10.2 Basic Characteristics of the UPFC 567 10.3 UPFC Versus Conventional Power Flow Controllers 571 10.4 UPFC Control System 575 10.5 Equipment Structural and Rating Considerations 584 10.6 Protection Considerations 596 10.7 Application Example: UPFC at AEP’s INEZ Station 600 10.8 Modeling of the UPFC Device 613 References 627 Chapter 11 Interline Power Flow Controller (Ipfc) 629 Laszlo Gyugyi 11.1 Generalities 629 11.2 Basic Operating Principles and Characteristics of the IPFC 630 11.3 Generalized Interline Power Flow Controller for Multiline Systems 636 11.4 Basic Control System 638 11.5 Equipment Structural and Rating Considerations 640 11.6 Protection Considerations 642 11.7 Application Example: IPFC at NYPA’s Marcy Substation 643 References 649 Chapter 12 Sen Transformer: A Power Regulating Transformer 651 Kalyan K. Sen 12.1 Background 651 12.2 The Sen Transformer Concept 656 References 679 Chapter 13 Medium Voltage Power Electronics Devices for Distribution Grids 681 Ion Etxeberria-Otadui, David Frey, Seddik Bacha, and Bertrand Raison 13.1 Introduction 681 13.2 High Power Switching Valves: Association of Semiconductor Components 683 13.3 Topologies Used in High Power Converters 694 13.4 Power Electronic Converter Control 697 References 717 Part III Artificial Intelligence Techniques Chen-Ching Liu and Mircea Eremia Chapter 14 Artificial Intelligence and Computational Intelligence: A Challenge for Power System Engineers 721 Chen-Ching Liu, Alexandru Stefanov, and Junho Hong References 729 Chapter 15 Expert Systems 731 Mircea Eremia, Kevin Tomsovic, and Gheorghe Cârțină 15.1 Fundamental Concepts 731 15.2 Architecture of Expert Systems 735 15.3 Expert Systems Application 745 References 753 Chapter 16 Neural Networks 755 Dagmar Niebur, Ganesh Kumar Venayagamoorthy, and Ekrem Gursoy 16.1 Introduction 755 16.2 Neural Network Architectures 755 16.3 Adaptive Critic Designs 759 16.4 Independent Component Analysis 760 16.5 Learning Algorithms: The Determination of Weights 760 16.6 Examples of Neural Network Applications for Power System Monitoring and Control 763 References 781 Chapter 17 Fuzzy Systems 785 Germano Lambert-Torres, Luiz Eduardo Borges da Silva, Carlos Henrique Valerio de Moraes, and Yvo Marcelo Chiaradia Masselli 17.1 Introduction 785 17.2 Fundamental Notions 787 17.3 Fuzzy Logic 797 17.4 Fuzzy Model 801 17.5 An Application of Fuzzy Logic in Control System 811 17.6 Final Remarks 816 Acknowledgments 817 References 817 Chapter 18 Decision Trees 819 Constantin Bulac and Adrian Bulac 18.1 Introduction 819 18.2 Decision Trees 820 18.3 Oblique Decision Trees 829 18.4 Applications of Decision Trees in Power Systems 833 18.5 Case Study 836 References 843 Chapter 19 Genetic Algorithms 845 Anastasios Bakirtzis and Spyros Kazarlis 19.1 Introduction to Evolutionary Computation 845 19.2 Genetic Algorithms 859 19.3 On The Optimal Location and Operation of FACTS Devices by Genetic Algorithms 897 References 898 Chapter 20 Multiagent Systems 903 Nan-Peng Yu and Chen-Ching Liu 20.1 Overview 903 20.2 Multiagent Technology Overview 909 20.3 Applications of Multiagent Systems in Power Engineering 917 20.4 Electricity Markets Modeling and Simulation with Multiagent Systems 920 Simulation 922 References 927 Chapter 21 Heuristic Optimization Techniques 931 Kwang Y. Lee, Malihe M. Farsangi, Jong-Bae Park, and John G. Vlachogiannis 21.1 Introduction 931 21.2 Evolutionary Algorithms for Reactive Power Planning 932 21.3 Genetic Algorithm for Generation Planning 943 21.4 Particle Swarm Optimization for Economic Dispatch 951 21.5 Ant Colony System for Constrained Load Flow Problem 961 21.6 Immune Algorithm for Damping of Interarea Oscillation 968 21.7 Simulated Annealing and Tabu Search for Optimal Allocation of Static VAr Compensators 974 21.8 Conclusions 980 References 981 Chapter 22 Unsupervised Learning and Hybrid Methods 985 Nikos Hatziargyriou and Manolis Voumvoulakis 22.1 Generalities 985 22.2 Supervised Learning Methods 988 22.3 Unsupervised Learning Methods 996 22.4 Som Variants 1000 22.5 Combined Use of Unsupervised with Supervised Learning Methods 1007 22.6 Applications to Power Systems 1007 References 1030 Index 1033

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Book SynopsisImpedance Source Power Electronic Converters brings together state of the art knowledge and cutting edge techniques in various stages of research related to the ever more popular impedance source converters/inverters.Trade Review"Power engineers developing Z-source converters, and those who want to learn about this new topology, will find this book to be a very useful resource. It is very well written, clearly explains the technical details of the Z-source convert­er, and incorporates many circuit designs and applications." (IEEE Electrical Insulation magazine 04/05/2017)Table of ContentsPreface xii Acknowledgment xiv Bios xv 1 Background and Current Status 1 1.1 General Introduction to Electrical Power Generation 1 1.1.1 Energy Systems 1 1.1.2 Existing Power Converter Topologies 5 1.2 Z‐Source Converter as Single‐Stage Power Conversion System 10 1.3 Background and Advantages Compared to Existing Technology 11 1.4 Classification and Current Status 13 1.5 Future Trends 15 1.6 Contents Overview 15 Acknowledgment 16 References 16 2 Voltage‐Fed Z‐Source/Quasi‐Z‐Source Inverters 20 2.1 Topologies of Voltage‐Fed Z‐Source/Quasi‐Z‐Source Inverters 20 2.2 Modeling of Voltage‐Fed qZSI 23 2.2.1 Steady‐State Model 23 2.2.2 Dynamic Model 25 2.3 Simulation Results 30 2.3.1 Simulation of qZSI Modeling 30 2.3.2 Circuit Simulation Results of Control System 31 2.4 Conclusion 33 References 33 3 Current‐Fed Z‐Source Inverter 35 3.1 Introduction 35 3.2 Topology Modification 37 3.3 Operational Principles 39 3.3.1 Current‐Fed Z‐Source Inverter 39 3.3.2 Current‐Fed Quasi‐Z‐Source Inverter 41 3.4 Modulation 44 3.5 Modeling and Control 46 3.6 Passive Components Design Guidelines 47 3.7 Discontinuous Operation Modes 48 3.8 Current‐Fed Z‐Source Inverter/Current‐Fed Quasi‐Z‐Source Inverter Applications 51 3.9 Summary 52 References 52 4 Modulation Methods and Comparison 54 4.1 Sinewave Pulse‐Width Modulations 54 4.1.1 Simple Boost Control 55 4.1.2 Maximum Boost Control 55 4.1.3 Maximum Constant Boost Control 56 4.2 Space Vector Modulations 57 4.2.1 Traditional SVM 57 4.2.2 SVMs for ZSI/qZSI 57 4.3 Pulse‐Width Amplitude Modulation 63 4.4 Comparison of All Modulation Methods 63 4.4.1 Performance Analysis 64 4.4.2 Simulation and Experimental Results 64 4.5 Conclusion 72 References 72 5 Control of Shoot‐Through Duty Cycle: An Overview 74 5.1 Summary of Closed‐Loop Control Methods 74 5.2 Single‐Loop Methods 75 5.3 Double‐Loop Methods 76 5.4 Conventional Regulators and Advanced Control Methods 76 References 77 6 Z‐Source Inverter: Topology Improvements Review 78 6.1 Introduction 78 6.2 Basic Topology Improvements 79 6.2.1 Bidirectional Power Flow 79 6.2.2 High‐Performance Operation 80 6.2.3 Low Inrush Current 80 6.2.4 Soft‐Switching 80 6.2.5 Neutral Point 82 6.2.6 Reduced Leakage Current 82 6.2.7 Joint Earthing 82 6.2.8 Continuous Input Current 82 6.2.9 Distributed Z‐Network 85 6.2.10 Embedded Source 85 6.3 Extended Boost Topologies 87 6.3.1 Switched Inductor Z‐Source Inverter 87 6.3.2 Tapped‐Inductor Z‐Source Inverter 93 6.3.3 Cascaded Quasi‐Z‐Source Inverter 94 6.3.4 Transformer‐Based Z‐Source Inverter 97 6.3.5 High Frequency Transformer Isolated Z‐Source Inverter 103 6.4 L‐Z‐Source Inverter 103 6.5 Changing the ZSI Topology Arrangement 105 6.6 Conclusion 109 References 109 7 Typical Transformer‐Based Z‐Source/Quasi‐Z‐Source Inverters 113 7.1 Fundamentals of Trans‐ZSI 113 7.1.1 Configuration of Current‐Fed and Voltage‐Fed Trans‐ZSI 113 7.1.2 Operating Principle of Voltage‐Fed Trans‐ZSI 116 7.1.3 Steady‐State Model 117 7.1.4 Dynamic Model 119 7.1.5 Simulation Results 121 7.2 LCCT‐ZSI/qZSI 122 7.2.1 Configuration and Operation of LCCT‐ZSI 122 7.2.2 Configuration and Operation of LCCT‐qZSI 124 7.2.3 Simulation Results 126 7.3 Conclusion 127 Acknowledgment 127 References 127 8 Z‐Source/Quasi‐Z‐Source AC‐DC Rectifiers 128 8.1 Topologies of Voltage‐Fed Z‐Source/Quasi‐Z‐Source Rectifiers 128 8.2 Operating Principle 129 8.3 Dynamic Modeling 130 8.3.1 DC‐Side Dynamic Model of qZSR 130 8.3.2 AC‐Side Dynamic Model of Rectifier Bridge 132 8.4 Simulation Results 134 8.5 Conclusion 137 References 137 9 Z‐Source DC‐DC Converters 138 9.1 Topologies 138 9.2 Comparison 140 9.3 Example Simulation Model and Results 141 References 147 10 Z‐Source Matrix Converter 148 10.1 Introduction 148 10.2 Z‐Source Indirect Matrix Converter (All‐Silicon Solution) 151 10.2.1 Different Topology Configurations 151 10.2.2 Operating Principle and Equivalent Circuits 153 10.2.3 Parameter Design of the QZS‐Network 156 10.2.4 QZSIMC (All‐Silicon Solution) Applications 157 10.3 Z‐Source Indirect Matrix Converter (Not All‐Silicon Solution) 158 10.3.1 Different Topology Configurations 158 10.3.2 Operating Principle and Equivalent Circuits 160 10.3.3 Parameter Design of the QZS Network 164 10.3.4 ZS/QZSIMC (Not All‐Silicon Solution) Applications 164 10.4 Z‐Source Direct Matrix Converter 167 10.4.1 Alternative Topology Configurations 167 10.4.2 Operating Principle and Equivalent Circuits 170 10.4.3 Shoot‐Through Boost Control Method 171 10.4.4 Applications of the QZSDMC 175 10.5 Summary 177 References 177 11 Energy Stored Z‐Source/Quasi‐Z‐Source Inverters 179 11.1 Energy Stored Z‐Source/Quasi‐Z Source Inverters 179 11.1.1 Modeling of qZSI with Battery 180 11.1.2 Controller Design 182 11.2 Example Simulations 188 11.2.1 Case 1: SOCmin < SOC < SOCmax 188 11.2.2 Case 2: Avoidance of Battery Overcharging 190 11.3 Conclusion 192 References 193 12 Z‐Source Multilevel Inverters 194 12.1 Z‐Source NPC Inverter 194 12.1.1 Configuration 194 12.1.2 Operating Principles 195 12.1.3 Modulation Scheme 200 12.2 Z‐Source/Quasi‐Z‐Source Cascade Multilevel Inverter 206 12.2.1 Configuration 206 12.2.2 Operating Principles 208 12.2.3 Modulation Scheme 209 12.2.4 System‐Level Modeling and Control 213 12.2.5 Simulation Results 219 12.3 Conclusion 224 Acknowledgment 224 References 224 13 Design of Z‐Source and Quasi‐Z‐Source Inverters 226 13.1 Z‐Source Network Parameters 226 13.1.1 Inductance and Capacitance of Three‐Phase qZSI 226 13.1.2 Inductance and Capacitance of Single‐Phase qZSI 227 13.2 Loss Calculation Method 233 13.2.1 H‐bridge Device Power Loss 233 13.2.2 qZS Diode Power Loss 236 13.2.3 qZS Inductor Power Loss 236 13.2.4 qZS Capacitor Power Loss 237 13.3 Voltage and Current Stress 237 13.4 Coupled Inductor Design 239 13.5 Efficiency, Cost, and Volume Comparison with Conventional Inverter 239 13.5.1 Efficiency Comparison 239 13.5.2 Cost and Volume Comparison 240 13.6 Conclusion 242 References 243 14 Applications in Photovoltaic Power Systems 244 14.1 Photovoltaic Power Characteristics 244 14.2 Typical Configurations of Single‐Phase and Three‐Phase Systems 245 14.3 Parameter Design Method 245 14.4 MPPT Control and System Control Methods 248 14.5 Examples Demonstration 249 14.5.1 Single‐Phase qZS PV System and Simulation Results 249 14.5.2 Three‐Phase qZS PV Power System and Simulation Results 249 14.5.3 1 MW/11 kV qZS CMI Based PV Power System and Simulation Results 250 14.6 Conclusion 253 References 255 15 Applications in Wind Power 256 15.1 Wind Power Characteristics 256 15.2 Typical Configurations 257 15.3 Parameter Design 257 15.4 MPPT Control and System Control Methods 259 15.5 Simulation Results of a qZS Wind Power System 261 15.6 Conclusion 264 References 265 16 Z‐Source Inverter for Motor Drives Application: A Review 266 16.1 Introduction 266 16.2 Z‐Source Inverter Feeding a Permanent Magnet Brushless DC Motor 269 16.3 Z‐Source Inverter Feeding a Switched Reluctance Motor 270 16.4 Z‐Source Inverter Feeding a Permanent Magnet Synchronous Motor 273 16.5 Z‐Source Inverter Feeding an Induction Motor 276 16.5.1 Scalar Control (V/F) Technique for ZSI‐IM Drive System 276 16.5.2 Field Oriented Control Technique for ZSI‐IM Drive System 279 16.5.3 Direct Torque Control (DTC) Technique for ZSI‐IM Drive System 279 16.5.4 Predictive Torque Control for ZSI‐IM Drive System 283 16.6 Multiphase Z‐Source Inverter Motor Drive System 283 16.7 Two‐Phase Motor Drive System with Z‐Source Inverter 286 16.8 Single‐Phase Induction Motor Drive System Using Z‐Source Inverter 286 16.9 Z‐Source Inverter for Vehicular Applications 286 16.10 Conclusion 289 References 290 17 Impedance Source Multi‐Leg Inverters 295 17.1 Impedance Source Four‐Leg Inverter 295 17.1.1 Introduction 295 17.1.2 Unbalanced Load Analysis Based on Fortescue Components 296 17.1.3 Effects of Unbalanced Load Condition 297 17.1.4 Inverter Topologies for Unbalanced Loads 300 17.1.5 Z‐Source Four‐Leg Inverter 302 17.1.6 Switching Schemes for Three‐Phase Four‐Leg Inverter 310 17.1.7 Buck/Boost Conversion Modes Analysis 316 17.2 Impedance Source Five‐Leg (Five‐Phase) Inverter 319 17.2.1 Five‐Phase VSI Model 319 17.2.2 Space Vector PWM for a Five‐Phase Standard VSI 322 17.2.3 Space Vector PWM for Five‐Phase qZSI 323 17.2.4 Discontinuous Space Vector PWM for Five‐Phase qZSI 324 17.3 Summary 326 References 326 18 Model Predictive Control of Impedance Source Inverter 329 18.1 Introduction 329 18.2 Overview of Model Predictive Control 330 18.3 Mathematical Model of the Z‐Source Inverters 331 18.3.1 Overview of Topologies 331 18.3.2 Three‐Phase Three‐Leg Inverter Model 333 18.3.3 Three‐Phase Four‐Leg Inverter Model 335 18.3.4 Multiphase Inverter Model 338 18.4 Model Predictive Control of the Z‐Source Three‐Phase Three‐Leg Inverter 342 18.5 Model Predictive Control of the Z‐Source Three‐Phase Four‐Leg Inverter 349 18.5.1 Discrete‐Time Model of the Output Current for Four‐Leg Inverter 349 18.5.2 Control Algorithm 350 18.6 Model Predictive Control of the Z‐Source Five‐Phase Inverter 350 18.6.1 Discrete‐Time Model of the Five‐Phase Load 352 18.6.2 Cost Function for the Load Current 353 18.6.3 Control Algorithm 353 18.7 Performance Investigation 353 18.8 Summary 359 References 359 19 Grid Integration of Quasi‐Z Source Based PV Multilevel Inverter 362 19.1 Introduction 362 19.2 Topology and Modeling 363 19.3 Grid Synchronization 364 19.4 Power Flow Control 365 19.4.1 Proportional Integral Controller 366 19.4.2 Model Predictive Control 372 19.5 Low Voltage Ride‐Through Capability 379 19.6 Islanding Protection 381 19.6.1 Active Frequency Drift (AFD) 383 19.6.2 Sandia Frequency Shift (SFS) 383 19.6.3 Slip‐Mode Frequency Shift (SMS) 383 19.6.4 Simulation Results 384 19.7 Conclusion 387 References 387 20 Future Trends 390 20.1 General Expectation 390 20.1.1 Volume and Size Reduction by Wide Band‐Gap Devices 390 20.1.2 Parameters Minimization for Single‐Phase qZS Inverter 391 20.1.3 Novel Control Methods 392 20.1.4 Future Applications 392 20.2 Illustration of Using Wide Band Gap Devices 393 20.2.1 Impact on Z‐Source Network 394 20.2.2 Analysis and Evaluation of SiC Device Based qZSI 395 20.3 Conclusion 398 References 398 Index 401

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Book SynopsisIntroducing up-to-date coverage of research in electron field emission from nanostructures, Vacuum Nanoelectronic Devices outlines the physics of quantum nanostructures, basic principles of electron field emission, and vacuum nanoelectronic devices operation, and offers as insight state-of-the-art and future researches and developments. This book also evaluates the results of research and development of novel quantum electron sources that will determine the future development of vacuum nanoelectronics. Further to this, the influence of quantum mechanical effects on high frequency vacuum nanoelectronic devices is also assessed. Key features: In-depth description and analysis of the fundamentals of Quantum Electron effects in novel electron sources. Comprehensive and up-to-date summary of the physics and technologies for THz sources for students of physical and engineering specialties and electronics engineers. Unique coverage of quantum physical Table of ContentsPreface xi Part I THEORETICAL BACKGROUNDS OF QUANTUM ELECTRON SOURCES 1 Transport through the Energy Barriers: Transition Probability 3 1.1 Transfer Matrix Technique 3 1.2 Tunneling through the Barriers and Wells 7 1.2.1 The Particle Moves on the Potential Step 7 1.2.2 The Particle Moves above the Potential Barrier 13 1.2.3 The Particle Moves above the Well 16 1.2.4 The Particle Moves through the Potential Barrier 18 1.3 Tunneling through Triangular Barrier at Electron Field Emission 22 1.4 Effect of Trapped Charge in the Barrier 24 1.5 Transmission Probability in Resonant Tunneling Structures: Coherent Tunneling 28 1.6 Lorentzian Approximation 32 1.7 Time Parameters of Resonant Tunneling 34 1.8 Transmission Probability at Electric Fields 38 1.9 Temperature Effects 42 1.9.1 One Barrier 42 1.9.2 Double-Barrier Resonance Tunneling Structure 45 2 Supply Function 48 2.1 Effective Mass Approximation 48 2.2 Electron in Potential Box 49 2.3 Density of States 52 2.3.1 Three-Dimension (3D) Case 52 2.3.2 Two-Dimension (2D) Case 58 2.3.3 One-Dimension (1D) Case 62 2.3.4 Zero Dimension (0D) Case 64 2.4 Fermi Distribution Function and Electron Concentration 66 2.4.1 Electron Concentration for 3D Structures 67 2.4.2 Electron Concentration for 2D Structures 71 2.5 Supply Function at Electron Field Emission 71 2.6 Electron in Potential Well 73 2.6.1 Quantum Well with Parabolic Shape of the Potential 76 2.7 Two-Dimensional Electron Gas in Heterojunction GaN-AlGaN 79 2.8 Electron Properties of Quantum-Size Semiconductor Films 82 3 Band Bending and Work Function 87 3.1 Surface Space-Charge Region 87 3.2 Quantization of the Energy Spectrum of Electrons in Surface Semiconductor Layer 91 3.3 Image Charge Potential 96 3.4 Work Function 99 3.4.1 Energy of Ionic Cores (εion) 102 3.4.2 Exchange-Correlation Potential (Uxc) 103 3.4.3 Dipole Term (ΔΦ) 104 3.4.4 Work Function of Semiconductor 106 3.4.5 Work Function of Cathode with Coating 107 3.5 Field and Temperature Dependences of Barrier Height 109 3.6 Influence of Surface Adatoms on Work Function 110 4 Current through the Barrier Structures 119 4.1 Current through One Barrier Structure 119 4.1.1 Case 1: High Bias 122 4.1.2 Case 2: High Bias and Low Temperature 122 4.1.3 Case 3: Small Bias: Linear Response 122 4.1.4 Case 4: Small Bias and Low Temperature 123 4.2 Field Emission Current 123 4.3 Electron Field Emission from Semiconductors 127 4.4 Current through Double Barrier Structures 134 4.4.1 Coherent Resonant Tunneling 134 4.4.2 Sequential Tunneling 139 4.5 Electron Field Emission from Multilayer Nanostructures and Nanoparticles 142 4.5.1 Resonant Tunneling at Electron Field Emission from Nanostructures 142 4.5.2 Two-Step Electron Tunneling through Electronic States in a Nanoparticle 150 4.5.3 Single-Electron Field Emission 159 5 Electron Energy Distribution 172 5.1 Theory of Electron Energy Distribution 172 5.2 Experimental Set Up 175 5.3 Peculiarities of Electron Energy Distribution Spectra at Emission from Semiconductors 177 5.3.1 Electron Energy Distribution of Electrons Emitted from Semiconductors 179 5.4 Electron Energy Distribution at Emission from Spindt-Type Metal Microtips 180 5.5 Electron Energy Distribution of Electrons Emitter from Silicon 185 5.5.1 Electron Energy Distribution of Electrons from Silicon Tips and Arrays 185 5.5.2 Electron Energy Distribution of Electrons from Nanocrystalline Silicon 193 Part II NOVEL ELECTRON SOURCES WITH QUANTUM EFFECTS 6 Si Based Quantum Cathodes 201 6.1 Introduction 201 6.2 Electron Field Emission from Porous Silicon 202 6.3 Electron Field Emission from Silicon with Multilayer Coating 207 6.4 Peculiarities of Electron Field Emission from Si Nanoparticles 208 6.4.1 Electron Field Emission from Nanocomposite SiOx(Si) and SiO2(Si) Films 208 6.4.2 Electron Field Emission from Si Nanocrystalline Films 212 6.4.3 Laser Produced Silicon Tips with SixOyNz(Si) Nanocomposite Film 215 6.5 Formation of Conducting Channels in SiOx Coating Film 217 6.6 Electron Field Emission from Si Nanowires 222 6.7 Metal-Insulator-Metal Emitters 227 6.7.1 Effect of the Top Electrode 237 6.8 Conclusion 240 7 GaN Based Quantum Cathodes 246 7.1 Introduction 246 7.2 Electron Sources with Wide Bandgap Semiconductor Films 247 7.2.1 AlGaN Based Electron Sources 249 7.2.2 Solid-State Field Controlled Emitter 255 7.2.3 Polarization Field Emission Enhancement Model 257 7.2.4 Emission from Nanocrystalline GaN Films 258 7.2.5 Graded Electron Affinity Electron Source 262 7.3 Resonant Tunneling of Field Emitted Electrons through Nanostructured Cathodes 263 7.3.1 Resonant-Tunneling AlxGa1−xN-GaN Structures 263 7.3.2 Multilayer Planar Nanostructured Solid-State Field-Controlled Emitter 266 7.3.3 Geometric Nanostructured AlGaN/GaN Quantum Emitter 270 7.3.4 AlN/GaN Multiple-Barrier Resonant-Tunneling Electron Emitter 273 7.4 Field Emission from GaN Nanorods and Nanowires 277 7.4.1 Intervalley Carrier Redistribution at EFE from Nanostructured Semiconductors 277 7.4.2 Electron Field Emission from GaN Nanowire Film 288 7.4.3 Electron Field Emission from Patterned GaN Nanowire Film 293 7.4.4 Electron Field Emission Properties of Individual GaN Nanowires 295 7.4.5 Photon-Assisted Field Emission from GaN Nanorods 299 7.5 Conclusions 305 8 Carbon-Based Quantum Cathodes 314 8.1 Introduction 314 8.2 Diamond and Diamond Film Emitters 315 8.2.1 Negative Electron Affinity 315 8.2.2 Emission from Diamond and Diamond Films 318 8.2.3 Models of EFE from Diamond 322 8.3 Diamond-Like Carbon Film Emitters 324 8.3.1 Electrically Nanostructured Heterogeneous Emitters 324 8.3.2 Nanostructured Diamond-Like Carbon Films 326 8.3.3 Electron Field Emission from DLC Films 328 8.3.4 Model of EFE from Si Tips Coated with DLC Film 330 8.3.5 Electron Field Emission from Tips Coated with Ultrathin DLC Films 334 8.3.6 Formation of Conductive Nanochannels in DLC Film 336 8.4 Carbon Nanotube Emitters 340 8.4.1 The Peculiarities of Electron Field Emission from CNTs 341 8.4.2 Stability of Electron Field Emission from CNTs 346 8.4.3 Models of Field Emission from CNTs 350 8.5 Electron Emission from Graphene and Nanocarbon 352 8.5.1 Electron Emission from Graphene 352 8.5.2 Electron Emission from CNT-Graphene Composites 355 8.5.3 Electron Emission from Nanocarbon 358 8.6 Conclusion 362 9 Quantum Electron Sources for High Frequency Applications 375 9.1 Introduction 375 9.2 High Frequency Application of Resonant Tunneling Diode 376 9.3 Field Emission Resonant Tunneling Diode 380 9.3.1 Direct Emission Current 381 9.3.2 Microwave Characteristics 383 9.3.3 Calculation of the Direct Emission Current 385 9.3.4 Calculation of Microwave Parameters 386 9.4 Generation of THz Signals in Field Emission Vacuum Devices 391 9.5 AlGaN/GaN Superlattice for THz Generation 398 9.6 Gunn Effect at Electron Field Emission 415 9.7 Field Emission Microwave Sources 420 9.7.1 Modulation of Gated FEAs 422 9.7.2 Current Density 432 9.7.3 CNT FEAs 436 9.8 Conclusion 440 Index 447

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Book SynopsisPresents recent significant and rapid development in the field of 2D and 3D image analysis 2D and 3D Image Analysis by Moments, is a unique compendium of moment-based image analysis which includes traditional methods and also reflects the latest development of the field.Table of ContentsPreface xvii Acknowledgements xxi 1 Motivation 1 1.1 Image analysis by computers 1 1.2 Humans, computers, and object recognition 4 1.3 Outline of the book 5 References 7 2 Introduction to Object Recognition 8 2.1 Feature space 8 2.1.1 Metric spaces and norms 9 2.1.2 Equivalence and partition 11 2.1.3 Invariants 12 2.1.4 Covariants 14 2.1.5 Invariant-less approaches 15 2.2 Categories of the invariants 15 2.2.1 Simple shape features 16 2.2.2 Complete visual features 18 2.2.3 Transformation coefficient features 20 2.2.4 Textural features 21 2.2.5 Wavelet-based features 23 2.2.6 Differential invariants 24 2.2.7 Point set invariants 25 2.2.8 Moment invariants 26 2.3 Classifiers 27 2.3.1 Nearest-neighbor classifiers 28 2.3.2 Support vector machines 31 2.3.3 Neural network classifiers 32 2.3.4 Bayesian classifier 34 2.3.5 Decision trees 35 2.3.6 Unsupervised classification 36 2.4 Performance of the classifiers 37 2.4.1 Measuring the classifier performance 37 2.4.2 Fusing classifiers 38 2.4.3 Reduction of the feature space dimensionality 38 2.5 Conclusion 40 References 41 3 2D Moment Invariants to Translation, Rotation, and Scaling 45 3.1 Introduction 45 3.1.1 Mathematical preliminaries 45 3.1.2 Moments 47 3.1.3 Geometric moments in 2D 48 3.1.4 Other moments 49 3.2 TRS invariants from geometric moments 50 3.2.1 Invariants to translation 50 3.2.2 Invariants to uniform scaling 51 3.2.3 Invariants to non-uniform scaling 52 3.2.4 Traditional invariants to rotation 54 3.3 Rotation invariants using circular moments 56 3.4 Rotation invariants from complex moments 57 3.4.1 Complex moments 57 3.4.2 Construction of rotation invariants 58 3.4.3 Construction of the basis 59 3.4.4 Basis of the invariants of the second and third orders 62 3.4.5 Relationship to the Hu invariants 63 3.5 Pseudoinvariants 67 3.6 Combined invariants to TRS and contrast stretching 68 3.7 Rotation invariants for recognition of symmetric objects 69 3.7.1 Logo recognition 75 3.7.2 Recognition of shapes with different fold numbers 75 3.7.3 Experiment with a baby toy 77 3.8 Rotation invariants via image normalization 81 3.9 Moment invariants of vector fields 86 3.10 Conclusion 92 References 92 4 3D Moment Invariants to Translation, Rotation, and Scaling 95 4.1 Introduction 95 4.2 Mathematical description of the 3D rotation 98 4.3 Translation and scaling invariance of 3D geometric moments 100 4.4 3D rotation invariants by means of tensors 101 4.4.1 Tensors 101 4.4.2 Rotation invariants 102 4.4.3 Graph representation of the invariants 103 4.4.4 The number of the independent invariants 104 4.4.5 Possible dependencies among the invariants 105 4.4.6 Automatic generation of the invariants by the tensor method 106 4.5 Rotation invariants from 3D complex moments 108 4.5.1 Translation and scaling invariance of 3D complex moments 112 4.5.2 Invariants to rotation by means of the group representation theory 112 4.5.3 Construction of the rotation invariants 115 4.5.4 Automated generation of the invariants 117 4.5.5 Elimination of the reducible invariants 118 4.5.6 The irreducible invariants 118 4.6 3D translation, rotation, and scale invariants via normalization 119 4.6.1 Rotation normalization by geometric moments 120 4.6.2 Rotation normalization by complex moments 123 4.7 Invariants of symmetric objects 124 4.7.1 Rotation and reflection symmetry in 3D 124 4.7.2 The influence of symmetry on 3D complex moments 128 4.7.3 Dependencies among the invariants due to symmetry 130 4.8 Invariants of 3D vector fields 131 4.9 Numerical experiments 131 4.9.1 Implementation details 131 4.9.2 Experiment with archeological findings 133 4.9.3 Recognition of generic classes 135 4.9.4 Submarine recognition – robustness to noise test 137 4.9.5 Teddy bears – the experiment on real data 141 4.9.6 Artificial symmetric bodies 142 4.9.7 Symmetric objects from the Princeton Shape Benchmark 143 4.10 Conclusion 147 Appendix 4.A 148 Appendix 4.B 156 Appendix 4.C 158 References 160 5 Affine Moment Invariants in 2D and 3D 163 5.1 Introduction 163 5.1.1 2D projective imaging of 3D world 164 5.1.2 Projective moment invariants 165 5.1.3 Affine transformation 167 5.1.4 2D Affine moment invariants – the history 168 5.2 AMIs derived from the Fundamental theorem 170 5.3 AMIs generated by graphs 171 5.3.1 The basic concept 172 5.3.2 Representing the AMIs by graphs 173 5.3.3 Automatic generation of the invariants by the graph method 173 5.3.4 Independence of the AMIs 174 5.3.5 The AMIs and tensors 180 5.4 AMIs via image normalization 181 5.4.1 Decomposition of the affine transformation 182 5.4.2 Relation between the normalized moments and the AMIs 185 5.4.3 Violation of stability 186 5.4.4 Affine invariants via half normalization 187 5.4.5 Affine invariants from complex moments 187 5.5 The method of the transvectants 190 5.6 Derivation of the AMIs from the Cayley-Aronhold equation 195 5.6.1 Manual solution 195 5.6.2 Automatic solution 198 5.7 Numerical experiments 201 5.7.1 Invariance and robustness of the AMIs 201 5.7.2 Digit recognition 201 5.7.3 Recognition of symmetric patterns 204 5.7.4 The children’s mosaic 208 5.7.5 Scrabble tiles recognition 210 5.8 Affine invariants of color images 214 5.8.1 Recognition of color pictures 217 5.9 Affine invariants of 2D vector fields 218 5.10 3D affine moment invariants 221 5.10.1 The method of geometric primitives 222 5.10.2 Normalized moments in 3D 224 5.10.3 Cayley-Aronhold equation in 3D 225 5.11 Beyond invariants 225 5.11.1 Invariant distance measure between images 225 5.11.2 Moment matching 227 5.11.3 Object recognition as a minimization problem 229 5.11.4 Numerical experiments 229 5.12 Conclusion 231 Appendix 5.A 232 Appendix 5.B 233 References 234 6 Invariants to Image Blurring 237 6.1 Introduction 237 6.1.1 Image blurring – the sources and modeling 237 6.1.2 The need for blur invariants 239 6.1.3 State of the art of blur invariants 239 6.1.4 The chapter outline 246 6.2 An intuitive approach to blur invariants 247 6.3 Projection operators and blur invariants in Fourier domain 249 6.4 Blur invariants from image moments 252 6.5 Invariants to centrosymmetric blur 254 6.6 Invariants to circular blur 256 6.7 Invariants to N-FRS blur 259 6.8 Invariants to dihedral blur 265 6.9 Invariants to directional blur 269 6.10 Invariants to Gaussian blur 272 6.10.1 1D Gaussian blur invariants 274 6.10.2 Multidimensional Gaussian blur invariants 278 6.10.3 2D Gaussian blur invariants from complex moments 279 6.11 Invariants to other blurs 280 6.12 Combined invariants to blur and spatial transformations 282 6.12.1 Invariants to blur and rotation 282 6.12.2 Invariants to blur and affine transformation 283 6.13 Computational issues 284 6.14 Experiments with blur invariants 285 6.14.1 A simple test of blur invariance property 285 6.14.2 Template matching in satellite images 286 6.14.3 Template matching in outdoor images 291 6.14.4 Template matching in astronomical images 291 6.14.5 Face recognition on blurred and noisy photographs 292 6.14.6 Traffic sign recognition 294 6.15 Conclusion 302 Appendix 6.A 303 Appendix 6.B 304 Appendix 6.C 306 Appendix 6.D 308 Appendix 6.E 310 Appendix 6.F 310 Appendix 6.G 311 References 315 7 2D and 3D Orthogonal Moments 320 7.1 Introduction 320 7.2 2D moments orthogonal on a square 322 7.2.1 Hypergeometric functions 323 7.2.2 Legendre moments 324 7.2.3 Chebyshev moments 327 7.2.4 Gaussian-Hermite moments 331 7.2.5 Other moments orthogonal on a square 334 7.2.6 Orthogonal moments of a discrete variable 338 7.2.7 Rotation invariants from moments orthogonal on a square 348 7.3 2D moments orthogonal on a disk 351 7.3.1 Zernike and Pseudo-Zernike moments 352 7.3.2 Fourier-Mellin moments 358 7.3.3 Other moments orthogonal on a disk 361 7.4 Object recognition by Zernike moments 363 7.5 Image reconstruction from moments 365 7.5.1 Reconstruction by direct calculation 367 7.5.2 Reconstruction in the Fourier domain 369 7.5.3 Reconstruction from orthogonal moments 370 7.5.4 Reconstruction from noisy data 373 7.5.5 Numerical experiments with a reconstruction from OG moments 373 7.6 3D orthogonal moments 377 7.6.1 3D moments orthogonal on a cube 380 7.6.2 3D moments orthogonal on a sphere 381 7.6.3 3D moments orthogonal on a cylinder 383 7.6.4 Object recognition of 3D objects by orthogonal moments 383 7.6.5 Object reconstruction from 3D moments 387 7.7 Conclusion 389 References 389 8 Algorithms for Moment Computation 398 8.1 Introduction 398 8.2 Digital image and its moments 399 8.2.1 Digital image 399 8.2.2 Discrete moments 400 8.3 Moments of binary images 402 8.3.1 Moments of a rectangle 402 8.3.2 Moments of a general-shaped binary object 403 8.4 Boundary-based methods for binary images 404 8.4.1 The methods based on Green’s theorem 404 8.4.2 The methods based on boundary approximations 406 8.4.3 Boundary-based methods for 3D objects 407 8.5 Decomposition methods for binary images 410 8.5.1 The "delta" method 412 8.5.2 Quadtree decomposition 413 8.5.3 Morphological decomposition 415 8.5.4 Graph-based decomposition 416 8.5.5 Computing binary OG moments by means of decomposition methods 420 8.5.6 Experimental comparison of decomposition methods 422 8.5.7 3D decomposition methods 423 8.6 Geometric moments of graylevel images 428 8.6.1 Intensity slicing 429 8.6.2 Bit slicing 430 8.6.3 Approximation methods 433 8.7 Orthogonal moments of graylevel images 435 8.7.1 Recurrent relations for moments orthogonal on a square 435 8.7.2 Recurrent relations for moments orthogonal on a disk 436 8.7.3 Other methods 438 8.8 Conclusion 440 Appendix 8.A 441 References 443 9 Applications 448 9.1 Introduction 448 9.2 Image understanding 448 9.2.1 Recognition of animals 449 9.2.2 Face and other human parts recognition 450 9.2.3 Character and logo recognition 453 9.2.4 Recognition of vegetation and of microscopic natural structures 454 9.2.5 Traffic-related recognition 455 9.2.6 Industrial recognition 456 9.2.7 Miscellaneous applications 457 9.3 Image registration 459 9.3.1 Landmark-based registration 460 9.3.2 Landmark-free registration methods 467 9.4 Robot and autonomous vehicle navigation and visual servoing 470 9.5 Focus and image quality measure 474 9.6 Image retrieval 476 9.7 Watermarking 481 9.8 Medical imaging 486 9.9 Forensic applications 489 9.10 Miscellaneous applications 496 9.10.1 Noise resistant optical flow estimation 496 9.10.2 Edge detection 497 9.10.3 Description of solar flares 498 9.10.4 Gas-liquid flow categorization 499 9.10.5 3D object visualization 500 9.10.6 Object tracking 500 9.11 Conclusion 501 References 501 10 Conclusion 518 10.1 Summary of the book 518 10.2 Pros and cons of moment invariants 519 10.3 Outlook to the future 520 Index 521

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Book SynopsisIntroduces digital mobile communications with an emphasis on digital transmission methods This book presents mathematical analyses of signals, mobile radio channels, and digital modulation methods. The new edition covers the evolution of wireless communications technologies and systems. The major new topics are OFDM (orthogonal frequency domain multiplexing), MIMO (multi-input multi-output) systems, frequency-domain equalization, the turbo codes, LDPC (low density parity check code), ACELP (algebraic code excited linear predictive) voice coding, dynamic scheduling for wireless packet data transmission and nonlinearity compensating digital pre-distorter amplifiers. The new systems using the above mentioned technologies include the second generation evolution systems, the third generation systems with their evolution systems, LTE and LTE-advanced systems, and advanced wireless local area network systems. The second edition of Digital Mobile Communication:Table of ContentsPreface to the Second Edition xiii Preface to the First Edition xv 1 Introduction 1 1.1 Digital Mobile Radio Communication System 1 1.2 The Purpose of Digitization of Mobile Radio Communications 5 1.2.1 Data Communication 5 1.2.2 Voice Scrambling 6 1.2.3 Spectrum Efficiency 6 1.2.4 System Cost 7 2 Signal and Systems 9 2.1 Signal Analysis 9 2.1.1 Delta Function 9 2.1.2 Fourier Analysis 15 2.1.3 Signals 26 2.1.4 Digital Signals 31 2.1.5 Modulated Signals 34 2.1.6 The Equivalent Base‐Band Complex Expression 36 2.2 Noise Analysis 37 2.2.1 Noise in Communication System 37 2.2.2 Statistics of Noise 39 2.2.3 Power Spectral Density of Noise 42 2.2.4 Autocorrelation Function of Filtered Noise 43 2.2.5 Bandpass Noise 44 2.2.6 Envelope and Phase of a Sinusoidal Signal in Bandpass Noise 48 2.2.7 Generation of Correlated Noises and its Probability Density Function 49 2.2.8 Sums of Random Variables and the Central Limit Theorem 51 2.3 Linear System 55 2.3.1 Linear Time‐Invariant System 55 2.3.2 Response of Linear System 55 2.3.3 System Description with Differential Equations 63 2.3.4 Examples of Linear Systems 66 2.4 Discrete‐time System 75 2.4.1 Sampling and the Sampling Theorem 75 2.4.2 The Energy, Power, and Correlation of Discrete-Time Signals 78 2.4.3 The Fourier Transform of Discrete‐Time Signals 79 2.4.4 Response of Discrete‐Time System 85 2.4.5 Description with Difference Equation 92 2.4.6 Digital Filter 94 2.4.7 Downsampling, Upsampling, and Subsampling 98 2.4.8 Inverse Circuit 101 2.4.9 Window Function 101 2.4.10 Discrete Fourier Transform 102 2.4.11 The Fast Fourier Transform 106 2.5 Optimization and Adaptive Signal Processing 108 2.5.1 Solution of Optimization Problem 108 2.5.2 Adaptive Signal Processing 112 Appendix 2.A limΩ→∞ (sinΩt/πt) = δ (t) 124 Appendix 2.B Conditions for a Test Function for the Delta Function, limT , Ω→∞ ⌠TƐ g(t) (sinΩtdt)=0 125 Appendix 2.C Formulae for the Trigonometric Functions 126 References 126 3 The Elements of Digital Communication System 127 3.1 Pulse Shaping 127 3.1.1 Nyquist’s First Criterion 128 3.1.2 Nyquist’s Second Criterion 132 3.1.3 Nyquist’s Third Criterion 134 3.1.4 Other Pulse‐Shaping Methods 135 3.2 Line Coding 137 3.2.1 Unipolar (On–Off) Code and Polar Codes 137 3.2.2 Multilevel Codes 137 3.2.3 The Gray Codes 138 3.2.4 Manchester (Split‐Phase) Code 139 3.2.5 Synchronized Frequency Shift Keying Code 141 3.2.6 Correlative Coding 141 3.2.7 Differential Encoding 148 3.3 Signal Detection 149 3.3.1 C/N, S/N, and Eb/N0 149 3.3.2 Bit Error Rate 150 3.3.3 NRZ Signaling with Integrate‐and‐Dump Filter Detection 156 3.3.4 Nyquist‐I Signaling System 157 3.3.5 The Matched Filter 157 3.3.6 Joint Optimization of the Transmit and the Receive Filters 162 3.3.7 The Optimum Receiver 164 3.3.8 The Maximum‐Likelihood Receiver and the Viterbi Algorithm 170 3.3.9 The Optimum Receiver for Signals without Intersymbol Interference 174 3.4 Synchronization 175 3.4.1 Symbol Timing Recovery 175 3.4.2 Frame Synchronization 176 3.5 Scrambling 177 3.6 Public Key Cryptosystem 180 3.7 Multiplexing and Multiple Access 182 3.8 The Channel Capacity 183 Appendix 3.A Fermat’s Theorem and the Chinese Remainder Theorem 185 References 187 4 Mobile Radio Channels 189 4.1 Path Loss 190 4.2 Shadowing 193 4.3 Fast Fading 193 4.3.1 RF Power Spectrum Spread due to Fast Fading 195 4.3.2 Correlations Between the In‐phase and Quadrature Components 196 4.3.3 Correlation of the Envelope 197 4.3.4 Spatial Correlation of the Envelope 198 4.3.5 Random Frequency Modulation 198 4.4 Delay Spread and Frequency‐Selective Fading 200 4.4.1 Coherence Bandwidth 202 4.4.2 Frequency‐Selective Fading 203 4.5 The Near–Far Problem 204 4.6 Cochannel Interference 205 4.6.1 Rayleigh Fading 206 4.6.2 Shadowing 206 4.6.3 Combined Fading and Shadowing 207 4.6.4 Discussion 207 4.7 Receive Power Distribution and Radio Channel Design 207 4.7.1 Receive Power Distribution 209 4.7.2 Channel Link Design 210 Appendix 4.A Propagation Loss Formula 214 Appendix 4.B Interference Probability under Shadowing 216 Appendix 4.C Interference Probability under Combined Fading and Shadowing 217 References 217 5 Elements of Digital Modulation 219 5.1 Digitally Modulated Signals 219 5.2 Linear Modulation Versus Constant Envelope Modulation 220 5.3 Digital Modulations 221 5.3.1 Phase Shift Keying 221 5.3.2 Frequency Shift Keying 226 5.3.3 Constant Envelope PSK 228 5.3.4 Quadrature Amplitude Modulation 229 5.4 Power Spectral Density of Digitally Modulated Signals 229 5.4.1 Linear Modulation 231 5.4.2 Digital FM 231 5.5 Demodulation 233 5.5.1 Coherent Detection 233 5.5.2 Envelope Detection 245 5.5.3 Differential Detection 246 5.5.4 Frequency Discriminator Detection 250 5.5.5 Error Rates in Fading Channels 264 5.6 Computer Simulation of Transmission Systems 270 Appendix 5.A Distortion of Modulated Signal Applied to a Nonlinear Circuit 275 Appendix 5.B Derivation of the Expected Gaussian Noise Power for Frequency Discriminator 276 Appendix 5.C M–Sequence Generator 277 References 278 6 Digital Modulation/Demodulation for Mobile Radio Communication 281 6.1 Digital Modulation for Analog FM Mobile Radio Systems 282 6.2 Constant Envelope Modulation 282 6.2.1 MSK 283 6.2.2 Partial‐Response Digital FM 294 6.2.3 Nyquist‐Filtered Digital FM 306 6.2.4 Performance Comparison 310 6.3 Linear Modulation 313 6.3.1 π/4‐Shifted QPSK 315 6.3.2 Eight‐Level PSK 320 6.3.3 16QAM 322 6.4 Spread‐Spectrum System 322 6.5 Multicarrier Transmission 329 6.5.1 Orthogonal Frequency‐Division Multiplexing 329 6.5.2 Generation of Multicarrier Digital Signal 337 6.5.3 Demodulation of Multicarrier Signals 341 6.6 Single‐Carrier Frequency‐Division Modulation 343 Appendix 6.A Mathematical Principles of Orthogonal Frequency-Division Multiplexing 346 6.A.1 Band‐Limited System 347 6.A.2 Nonband‐Limited System 348 References 349 7 Other Topics in Digital Mobile Radio Transmission 355 7.1 Diversity Transmission System 355 7.1.1 Probability Density Function of SNR for Diversity System 357 7.1.2 Average Error Rate for Diversity Systems 360 7.1.3 Multiple Transmitter Diversity System 367 7.1.4 Antenna Selection Diversity System 370 7.2 Multi‐Input Multi‐Output Systems 375 7.2.1 Maximal Ratio Combining Diversity Systems 375 7.2.2 Space–Time Codes 385 7.2.3 SDM in MIMO Systems 386 7.3 Adaptive Automatic Equalizer 401 7.3.1 Linear Equalizer 402 7.3.2 Performance Criteria for Equalization 405 7.3.3 Decision Feedback Equalizer 409 7.3.4 The Viterbi Equalizer 410 7.3.5 Adaptation and Prediction Algorithm 411 7.3.6 Preequalization 411 7.3.7 Frequency‐Domain Equalizer 418 7.3.8 Turbo Equalizer 419 7.3.9 Discussions on Equalization 419 7.3.10 Applications to a Mobile Radio Channel 421 7.4 Error Control Techniques 422 7.4.1 Linear Block Codes 424 7.4.2 Cyclic Codes 426 7.4.3 Convolutional Codes 429 7.4.4 Concatenated Codes 430 7.4.5 Turbo Codes 430 7.4.6 LDPC Code 444 7.4.7 A Phenomenological Expression of the a Priori Probability and Error Rates 449 7.4.8 ARQ 452 7.4.9 Applications to Mobile Radio Channels 453 7.5 Trellis‐Coded Modulation 453 7.6 Adaptive Interference Cancellation 456 7.6.1 Adaptive Array Antenna 457 7.6.2 Adaptive Interference Suppression 466 7.6.3 Discussion 467 7.7 Voice Coding 469 7.7.1 Pulse Code Modulation 470 7.7.2 Delta Modulation 471 7.7.3 Adaptive Differential Pulse Code Modulation 472 7.7.4 Adaptive Predictive Coding 473 7.7.5 Multipulse Coding 476 7.7.6 Code‐Excited Linear Predictive (CELP) Coding 477 7.7.7 LPC Vocoder 482 7.7.8 Application to Mobile Radio Communications 482 Appendix 7.A Average Error Rate for Maximal Ratio Combiner with Coherent Detector 484 Appendix 7.B Average Error Rate of Maximal Ratio Combining System with Coherent Detector with Use of Approximate Probability Density Function 485 References 486 8 Equipment and Circuits for Digital Mobile Radio 493 8.1 Base Station 493 8.2 Mobile Station 494 8.3 Superheterodyne and Direct Conversion Receivers 495 8.3.1 Image Rejection Downconverter 497 8.4 Transmit and Receive Duplexing 501 8.5 Frequency Synthesizer 501 8.6 Transmitter Circuits 503 8.6.1 Digital Signal Waveform Generator 503 8.6.2 Modulator 504 8.6.3 Linear Power Amplifier 507 8.6.4 Transmit Power Control 525 8.7 Receiver Circuits 527 8.7.1 AGC Circuit 527 8.7.2 Signal Processing with Logic Circuits 529 8.7.3 Demodulator 532 8.8 Countermeasures Against dc Blocking and dc Offset 535 Appendix 8.A Quarter‐wavelength Line 538 References 539 9 Digital Mobile Radio Communication Systems 543 9.1 Fundamental Concepts 543 9.1.1 The Cellular Concept 543 9.1.2 Multiple Access 551 9.1.3 Channel Assignment 554 9.1.4 Multiple‐Access System 563 9.1.5 Intercell Interference Suppression 566 9.1.6 Repeater System 566 9.1.7 A Performance Analysis of Digital Cellular System 567 9.2 Digital Transmission in Analog Mobile Communication Systems 577 9.3 Paging Systems 578 9.4 Two‐Way Digital Mobile Radio 579 9.5 Mobile Data Service Systems 580 9.5.1 MOBITEX 580 9.5.2 Teleterminal System 580 9.5.3 Mobile Data Systems in Analog Cellular Systems 580 9.6 Digital Cordless Telephone 581 9.6.1 Second‐Generation Cordless Telephone 581 9.6.2 Digital European Cordless Telecommunications 582 9.6.3 Personal Handy System 582 9.7 Digital Mobile Telephone Systems 583 9.7.1 The GSM System 584 9.7.2 Digital Cellular Systems in North America 587 9.7.3 Digital Cellular Systems in Japan 591 9.7.4 Evolution of the Second‐Generation Systems 592 9.7.5 The Third‐Generation System 592 9.7.6 Evolution of 3G Systems 595 9.7.7 WiMAX 599 9.7.8 The Fourth-Generation System 600 9.8 Wireless Local Area Network 600 9.8.1 IEEE 802.11 Series 600 9.8.2 Bluetooth 605 9.8.3 UWB 605 9.8.4 ZigBee 606 9.8.5 BWN 606 9.8.6 MBWA 608 Appendix 9.A Poisson Arrival Rates 608 References 609 Index 613

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Book SynopsisOptical computers and photonic integrated circuits in high capacity optical networks are hot topics, attracting the attention of expert researchers and commercial technology companies. Optical packet switching and routing technologies promise to provide a more efficient source of power, and footprint scaling with increased router capacity; integrating more optical processing elements into the same chip to increase on-chip processing capability and system intelligence has become a priority. This book is an in-depth look at modelling techniques and the simulation of a wide range of liquid crystal based modern photonic devices with enhanced high levels of flexible integration and enhanced power processing. It covers the physics of liquid crystal materials; techniques required for modelling liquid crystal based devices; the state-of-the art liquid crystal photonic based applications for telecommunications such as couplers, polarization rotators, polarization splitters and multiplTrade Review"...anyone concerned with liquid-crystal photonics will profit from reading it." (The Optical Society/OPN 09/05/2017)Table of ContentsPreface xv Part I Basic Principles 1 1 Principles of Waveguides 3 1.1 Introduction 3 1.2 Basic Optical Waveguides 4 1.3 Maxwell’s Equations 6 1.4 The Wave Equation and Its Solutions 7 1.5 Boundary Conditions 9 1.6 Phase and Group Velocity 10 1.6.1 Phase Velocity 10 1.6.2 Group Velocity 11 1.7 Modes in Planar Optical Waveguide 12 1.7.1 Radiation Modes 13 1.7.2 Confinement Modes 13 1.8 Dispersion in Planar Waveguide 13 1.8.1 lntermodal Dispersion 14 1.8.2 lntramodal Dispersion 14 1.9 Summary 15 References 15 2 Fundamentals of Photonic Crystals 17 2.1 Introduction 17 2.2 Types of PhCs 18 2.2.1 1D PhCs 18 2.2.2 2D PhCs 19 2.2.3 3D PhCs 21 2.3 Photonic Band Calculations 21 2.3.1 Maxwell’s Equations and the PhC 22 2.3.2 Floquet–Bloch Theorem, Reciprocal Lattice, and Brillouin Zones 23 2.3.3 Plane Wave Expansion Method 26 2.3.4 FDTD Method 29 2.3.4.1 Band Structure 29 2.3.4.2 Transmission Diagram 30 2.3.5 Photonic Band for Square Lattice 30 2.4 Defects in PhCs 31 2.5 Fabrication Techniques of PhCs 32 2.5.1 Electron-Beam Lithography 32 2.5.2 Interference Lithography 33 2.5.3 Nano-Imprint Lithography 33 2.5.4 Colloidal Self-Assembly 34 2.6 Applications of PhCs 34 2.7 Photonic Crystal Fiber 35 2.7.1 Construction 35 2.7.2 Modes of Operation 36 2.7.2.1 High Index Guiding Fiber 36 2.7.2.2 PBG Fibers 36 2.7.3 Fabrication of PCF 37 2.7.4 Applications of PCF 37 2.8 Summary 37 References 37 3 Fundamentals of Liquid Crystals 41 3.1 Introduction 41 3.2 Molecular Structure and Chemical Composition of an LC Cell 42 3.3 LC Phases 42 3.3.1 Thermotropic LCs 44 3.3.1.1 Nematic Phase 44 3.3.1.2 Smectic Phase 44 3.3.1.3 Chiral Phases 45 3.3.1.4 Blue Phases 46 3.3.1.5 Discotic Phases 46 3.3.2 Lyotropic LCs 47 3.3.3 Metallotropic LCs 48 3.4 LC Physical Properties in External Fields 48 3.4.1 Electric Field Effect 48 3.4.2 Magnetic Field Effect 49 3.4.2.1 Frederiks Transition 49 3.5 Theortitcal Tratment of LC 50 3.5.1 LC Parameters 50 3.5.1.1 Director 50 3.5.1.2 Order Parameter 50 3.5.2 LC Models 51 3.5.2.1 Onsager Hard-Rod Model 51 3.5.2.2 Maier–Saupe Mean Field Theory 52 3.5.2.3 McMillan’s Model 52 3.6 LC Sample Preparation 52 3.7 LCs for Display Applications 53 3.8 LC Thermometers 54 3.9 Optical Imaging 54 3.10 LC into Fiber Optics and LC Planar Photonic Crystal 54 3.11 LC Solar Cell 55 References 55 Part II N umerical Techniques 57 4 Full-Vectorial Finite-Difference Method 59 4.1 Introduction 59 4.2 Overview of Modeling Methods 59 4.3 Formulation of the FVFDM 60 4.3.1 Maxwell’s Equations 60 4.3.2 Wave Equation 61 4.3.3 Boundary Conditions 63 4.3.4 Maxwell’s Equations in Complex Coordinate 64 4.3.5 Matrix Solution 65 4.3.5.1 Power Method 65 4.3.5.2 Inverse Power Method 66 4.3.5.3 Shifted Inverse Power Method 66 4.4 Summary 66 References 66 5 Assessment of the Full-Vectorial Finite-Difference Method 69 5.1 Introduction 69 5.2 Overview of the LC-PCF 69 5.3 Soft Glass 70 5.4 Design of Soft Glass PCF with LC Core 71 5.5 Numerical Results 73 5.5.1 FVFDM Validation 73 5.5.2 Modal Hybridness 74 5.5.3 Effective Index 75 5.5.4 Effective Mode Area 76 5.5.5 Nonlinearity 76 5.5.6 Birefringence 77 5.5.7 Effect of the NLC Rotation Angle 80 5.5.8 Effect of the Temperature 81 5.5.9 Elliptical SGLC-PCF 83 5.6 Experimental Results of LC-PCF 84 5.6.1 Filling Temperature 84 5.6.2 Filling Time 84 5.7 Summary 85 References 85 6 Full-Vectorial Beam Propagation Method 89 6.1 Introduction 89 6.2 Overview of the BPMs 89 6.3 Formulation of the FV-BPM 90 6.3.1 Slowly Varying Envelope Approximation 91 6.3.2 Paraxial and Wide-Angle Approximation 92 6.4 Numerical Assessment 93 6.4.1 Overview of Directional Couplers 93 6.4.2 Design of the NLC-PCF Coupler 94 6.4.3 Effect of the Structural Geometrical Parameters 94 6.4.4 Effect of Temperature 97 6.4.5 Effect of the NLC Rotation Angle 98 6.4.6 Elliptical NLC-PCF Coupler 98 6.4.7 Beam Propagation Analysis of the NLC-PCF Coupler 101 6.5 Experimental Results of LC-PCF Coupler 102 6.6 Summary 103 References 103 7 Finite-Difference Time Domain Method 105 7.1 Introduction 105 7.2 Numerical Derivatives 106 7.3 Fundamentals of FDTD 106 7.3.1 1D Problem in Free Space 107 7.3.2 1D Problem in a Lossless Medium 109 7.3.3 1D Problem in a Lossy Medium 109 7.3.4 2D Problem 110 7.3.5 3D Problem 112 7.4 Stability for FDTD 115 7.5 Feeding Formulation 116 7.6 Absorbing Boundary Conditions 116 7.6.1 Mur’s ABCs 117 7.6.2 Perfect Matched Layer 117 7.7 1D FDTD Sample Code 120 7.7.1 Source Simulation 120 7.7.2 Structure Simulation 121 7.7.3 Propagation Simulation 122 7.8 FDTD Formulation for Anisotropic Materials 124 7.9 Summary 126 References 126 Part III Applications of LC Devices 129 8 Polarization Rotator Liquid Crystal Fiber 131 8.1 Introduction 131 8.2 Overview of PRs 132 8.3 Practical Applications of PRs 133 8.4 Operation Principles of PRs 134 8.5 Numerical Simulation Strategy 135 8.6 Design of NLC-PCF PR 136 8.7 Numerical Results 138 8.7.1 Hybridness 138 8.7.2 Operation of the NLC-PCF PR 139 8.7.3 Effect of Structure Geometrical Parameters 142 8.7.3.1 Effect of the d/Λ Ratio 142 8.7.3.2 Effect of the Hole Pitch Λ 143 8.7.4 Tolerance of the NLC Rotation Angle 143 8.7.5 Tolerance of Structure Geometrical Parameters 144 8.7.5.1 Tolerance of the d/Λ Ratio 144 8.7.5.2 Tolerance of the Hole Shape 145 8.7.5.3 Tolerance of the Hole Position 146 8.7.6 Tolerance of the Temperature 148 8.7.7 Tolerance of the Operating Wavelength 150 8.8 Ultrashort Silica LC-PCF PR 150 8.9 Fabrication Aspects of the NLC-PCF PR 155 8.10 Summary 156 References 156 9 Applications of Nematic Liquid Crystal-Photonic Crystal Fiber Coupler 159 9.1 Introduction 159 9.2 Multiplexer–Demultiplexer 159 9.2.1 Analysis of NLC-PCF MUX–DEMUX 159 9.2.2 Beam Propagation Study of the NLC-PCF MUX–DEMUX 161 9.2.3 CT of the NLC-PCF MUX–DEMUX 162 9.2.4 Feasibility of the NLC-PCF MUX–DEMUX 163 9.3 Polarization Splitter 164 9.3.1 Analysis of the NLC-PCF Polarization Splitter 164 9.3.2 Beam Propagation Study of the NLC-PCF Polarization Splitter 164 9.3.3 CT of the NLC-PCF Splitter 166 9.3.4 Feasibility of the NLC-PCF Polarization Splitter 168 9.4 Summary 169 References 169 10 Coupling Characteristics of a Photonic Crystal Fiber Coupler with Liquid Crystal Cores 171 10.1 Introduction 171 10.2 Design of the PCF Coupler with LC Cores 172 10.3 Numerical Results 173 10.3.1 Effect of the Structural Geometrical Parameters 173 10.3.2 Effect of Temperature 177 10.3.3 Polarization Splitter Based on PCF Coupler with LC Cores 178 10.3.3.1 Analysis of the Polarization Splitter 178 10.3.3.2 Beam Propagation Analysis 179 10.3.3.3 Crosstalk 181 10.3.3.4 Feasibility of the Polarization Splitter 182 10.4 Summary 183 References 183 11 Liquid Crystal Photonic Crystal Fiber Sensors 185 11.1 Introduction 185 11.2 LC-PCF Temperature Sensor 186 11.2.1 Design Consideration 186 11.2.2 Effects of the Structural Geometrical Parameters 189 11.2.3 Effect of the Temperature 191 11.2.4 Effect of the LC Rotation Angle 191 11.2.5 Sensitivity Analysis 192 11.3 Design of Single Core PLC-PCF 192 11.3.1 Design Consideration 192 11.3.2 Effect of the LC Rotation Angle 197 11.3.3 Effect of the Structural Geometrical Parameters 197 11.3.4 Effect of the Temperature 201 11.4 Summary 202 References 202 12 Image Encryption Based on Photonic Liquid Crystal Layers 205 12.1 Introduction to Optical Image Encryption systems 205 12.2 Symmetric Encryption Using PhC Structures 207 12.2.1 Design Concept 207 12.2.2 Encryptor/Decryptor Design 211 12.2.3 Simulation Results 212 12.3 Multiple Encryption System Using Photonic LC Layers 216 12.3.1 Proposed Encryption System 217 12.3.1.1 PBG Structure 217 12.3.1.2 Liquid Crystals 217 12.3.1.3 Phase Modulator/Photodetector 219 12.3.1.4 System Operation 219 12.3.2 Simulation Results 219 12.4 Summary 226 References 227 13 Optical Computing Devices Based on Photonic Liquid Crystal Layers 229 13.1 Introduction to Optical Computing 229 13.2 All-Optical Router Based on Photonic LC Layers 231 13.2.1 Device Architecture 231 13.2.1.1 PBG Structure 231 13.2.1.2 Liquid Crystals 232 13.2.1.3 System Operation 233 13.2.2 Simulation Results 233 13.2.3 Fabrication Tolerance 236 13.3 Optical Logic Gates Based on Photonic LC Layers 237 13.3.1 OR Logic Gate Based on PhC Platform 237 13.3.1.1 PhC Platform 238 13.3.1.2 Optical OR Gate Architecture 239 13.3.1.3 Results and Discussion for OR Gate 239 13.3.2 AND Logic Gate Based on a PhC Platform 241 13.3.2.1 Optical AND Gate Architecture 242 13.3.2.2 Results and Discussion for AND Gate 242 13.3.3 Reconfigurable Gate Based on Photonic NLC Layers 245 13.3.3.1 Device Architecture 245 13.3.3.2 Bandgap Analysis of Photonic Crystal Platform 246 13.3.3.3 Simulation Results of the Reconfigurable Gate 247 13.4 Optical Memory Based on Photonic LC Layers 252 13.4.1 PhC Platform 253 13.4.2 Tunable Switch 253 13.4.3 Simulation Results 255 13.4.4 Fabrication Challenges 255 13.5 Summary 256 References 257 Index 259

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Book SynopsisNanosatellites: Space and Ground Technologies, Operations and Economics Rogerio Atem de Carvalho, Instituto Federal Fluminense, Brazil Jaime Estela, Spectrum Aerospace Group, Germany and Peru Martin Langer, Technical University of Munich, Germany Covering the latest research on nanosatellites Nanosatellites: Space and Ground Technologies, Operations and Economics comprehensively presents the latest research on the fast-developing area of nanosatellites. Divided into three distinct sections, the book begins with a brief history of nanosatellites and introduces nanosatellites technologies and payloads, also explaining how these are deployed into space. The second section provides an overview of the ground segment and operations, and the third section focuses on the regulations, policies, economics, and future trends. Key features: Payloads for nanosatellites Nanosatellites components design ETable of ContentsList of Contributors xxiii Foreword: Nanosatellite Space Experiment xxix Introduction by the Editors xxxv 1 I-1 A Brief History of Nanosatellites 1Siegfried W. Janson 1.1 Introduction 1 1.2 Historical Nanosatellite Launch Rates 1 1.3 The First Nanosatellites 3 1.4 The Large Space Era 8 1.5 The New Space Era 12 1.6 Summary 23 References 24 2 I-2a On-board Computer and Data Handling 31Jaime Estela and Sergio Montenegro 2.1 Introduction 31 2.2 History 31 2.3 Special Requirements for Space Applications 34 2.4 Hardware 35 2.5 Design 41 References 49 3 I-2b Operational Systems 51Lucas Ramos Hissa and Rogerio Atem de Carvalho 3.1 Introduction 51 3.2 RTOS Overview 51 3.3 RTOS on On-board Computers (OBCs): Requirements for a Small Satellite 52 3.4 Example Projects 55 3.5 Conclusions 56 References 59 4 I-2c Attitude Control and Determination 61Willem H. Steyn and Vaios J. Lappas 4.1 Introduction 61 4.2 ADCS Fundamentals 61 4.3 ADCS Requirements and Stabilization Methods 62 4.4 ADCS Background Theory 65 4.5 Attitude and Angular Rate Determination 66 4.6 Attitude and Angular Rate Controllers 72 4.7 ADCS Sensor and Actuator Hardware 75 References 83 5 I-2d Propulsion Systems 85Flavia Tata Nardini, Michele Coletti, Alexander Reissner, and David Krejci 5.1 Introduction 85 5.2 Propulsion Elements 86 5.3 Key Elements in the Development of Micropropulsion Systems 87 5.4 Propulsion System Technologies 90 5.5 Mission Elements 98 5.6 Survey of All Existing Systems 101 5.7 Future Prospect 113 References 113 6 I-2e Communications 115Nicolas Appel, Sebastian Rückerl, Martin Langer, and Rolf-Dieter Klein 6.1 Introduction 115 6.2 Regulatory Considerations 116 6.3 Satellite Link Characteristics 117 6.4 Channel Coding 123 6.5 Data Link Layer 126 6.6 Hardware 128 6.7 Testing 138 References 140 7 I-2f Structural Subsystem 143Kenan Y. Sanl𝚤türk, Murat Süer, and A. Rüstem Aslan 7.1 Definition and Tasks 143 7.2 Existing State-of-the-Art Structures for CubeSats 145 7.3 Materials and Thermal Considerations for Structural Design 150 7.4 Design Parameters and Tools 152 7.5 Design Challenges 162 7.6 Future Prospects 163 References 164 8 I-2g Power Systems 167Marcos Compadre, Ausias Garrigós, and Andrew Strain 8.1 Introduction 167 8.2 Power Source: Photovoltaic Solar Cells and Solar Array 170 8.3 Energy Storage: Lithium-ion Batteries 172 8.4 SA-battery Power Conditioning: DET and MPPT 175 8.5 Battery Charging Control Loops 178 8.6 Bus Power Conditioning and Distribution: Load Converters and Distribution Switches 179 8.7 Flight Switch Subsystem 183 8.8 DC/DC Converters 183 8.9 Power System Sizing: Power Budget, Solar Array, and Battery Selection 187 8.10 Conclusions 191 References 191 9 I-2h Thermal Design, Analysis, and Test 193Philipp Reiss, Matthias Killian, and Philipp Hager 9.1 Introduction 193 9.2 Typical Thermal Loads 194 9.3 Active and Passive Designs 200 9.4 Design Approach and Tools 204 9.5 Thermal Tests 208 References 212 10 I-2i Systems Engineering and Quality Assessment 215Lucas Lopes Costa, Geilson Loureiro, Eduardo Escobar Bürger, and Franciele Carlesso 10.1 Introduction 215 10.2 Systems Engineering Definition and Process 216 10.3 Space Project Management: Role of Systems Engineers 222 10.4 ECSS and Other Standards 225 10.5 Document, Risk Control, and Resources 228 10.6 Changing Trends in SE and Quality Assessment for Nanosatellites 233 References 233 11 I-2j Integration and Testing 235Eduardo Escobar Bürger, Geilson Loureiro, and Lucas Lopes Costa 11.1 Introduction 235 11.2 Overall Tasks 236 11.3 Typical Flow 241 11.4 Test Philosophies 242 11.5 Typical System Integration Process 244 11.6 Typical Test Parameters and Facilities 244 11.7 Burden of Integration and Testing 245 11.8 Changing Trends in Nanosatellite Testing 249 References 250 12 I-3a Scientific Payloads 251Anna Gregorio 12.1 Introduction 251 12.2 Categorization 252 12.3 Imagers 254 12.4 X-ray Detectors 256 12.5 Spectrometers 259 12.6 Photometers 262 12.7 GNSS Receivers 265 12.8 Microbolometers 267 12.9 Radiometers 269 12.10 Radar Systems 270 12.11 Particle Detectors 274 12.12 PlasmaWave Analyzers 277 12.13 Biological Detectors 280 12.14 Solar Sails 283 12.15 Conclusions 283 References 283 13 I-3b In-orbit Technology Demonstration 291Jaime Estela 13.1 Introduction 291 13.2 Activities of Space Agencies 292 13.3 Nanosatellites 295 13.4 Microsatellites 298 13.5 ISS 301 References 306 14 I-3c Nanosatellites as Educational Projects 309Merlin F. Barschke 14.1 Introduction 309 14.2 Satellites and Project-based Learning 309 14.3 University Satellite Programs 312 14.4 Outcome and Success Criteria 316 14.5 Teams and Organizational Structure 318 14.6 Challenges and Practical Experiences 318 14.7 From Pure Education to Powerful Research Tools 321 References 321 15 I-3d Formations of Small Satellites 327Klaus Schilling 15.1 Introduction 327 15.2 Constellations and Formations 327 15.3 Orbit Dynamics 328 15.4 Satellite Configurations 331 15.5 Relevant Specific Small Satellite Technologies to Enable Formations 332 15.6 Application Examples 334 15.7 Test Environment for Multisatellite Systems 336 15.8 Conclusions for Distributed Nanosatellite Systems 337 Acknowledgments 338 References 338 16 I-3e Precise, Autonomous Formation Flight at Low Cost 341Niels Roth, Ben Risi, Robert E. Zee, Grant Bonin, Scott Armitage, and Josh Newman 16.1 Introduction 341 16.2 Mission Overview 342 16.3 System Overview 343 16.4 Launch and Early Operations 350 16.5 Formation Control Results 353 16.6 Conclusion 360 Acknowledgments 360 References 360 17 I-4a Launch Vehicles—Challenges and Solutions 363Kaitlyn Kelley 17.1 Introduction 363 17.2 Past Nanosatellite Launches 365 17.3 Launch Vehicles Commonly Used by Nanosatellites 367 17.4 Overview of a Typical Launch Campaign 368 17.5 Launch Demand 371 17.6 Future Launch Concepts 372 References 374 18 I-4b Deployment Systems 375A. Rüstem Aslan, Cesar Bernal, and Jordi Puig-Suari 18.1 Introduction 375 18.2 Definition and Tasks 375 18.3 Basics of Deployment Systems 376 18.4 State of the Art 377 18.5 Future Prospects 395 Acknowledgments 396 References 396 19 I-4c Mission Operations 399Chantal Cappelletti 19.1 Introduction 399 19.2 Organization of Mission Operations 400 19.3 Goals and Functions of Mission Operations 401 19.4 Input and Output of Mission Operations 404 19.5 MOP 406 19.6 Costs and Operations 409 References 414 Further Reading 415 20 I-5 Mission Examples 417Kelly Antonini, Nicolò Carletti, Kevin Cuevas, Matteo Emanuelli, Per Koch, Laura León Pérez, and Daniel Smith 20.1 Introduction 417 20.2 Mission Types 418 20.3 Mission Examples 420 20.4 Constellations 433 20.5 Perspective 437 References 438 21 II-1 Ground Segment 441Fernando Aguado Agelet and Alberto González Muíño 21.1 Introduction 441 21.2 Ground Segment Functionalities 441 21.3 Ground Segment Architecture 442 21.4 Ground Station Elements 444 21.5 Ground Segment Software 449 21.6 Ground Segment Operation 451 21.7 Future Prospects 452 References 455 22 II-2 Ground Station Networks 457Lucas Rodrigues Amaduro and Rogerio Atem de Carvalho 22.1 Introduction 457 22.2 Technological Challenges 457 22.3 Visibility Clash Problems of Stations and Satellites 458 22.4 The Distributed Ground Station Network 459 22.5 Infrastructure 459 22.6 Planning and Scheduling 460 22.7 Generic Software Architecture 460 22.8 Example Networks 462 22.9 Traditional Ground Station Approach 462 22.10 Heterogeneous Ground Station Approach 464 22.11 Homogeneous Ground Station Approach 466 22.12 Conclusions 469 References 469 23 II-3 Ground-based Satellite Tracking 471Enrico Stoll, Jürgen Letschnik, and Christopher Kebschull 23.1 Introduction 471 23.2 Orbital Element Sets 472 23.3 Tracklet Generation from Ground Measurements 475 23.4 Tracking CubeSats with Ground Stations 481 23.5 Orbit Propagation 485 23.6 Principle of Operations of Ground Stations 487 23.7 Summary 492 References 493 24 II-4a AMSAT 495Andrew Barron (ZL3DW) 24.1 Introduction 495 24.2 Project OSCAR 496 24.3 AMSAT Satellite Designations 499 24.4 Other Notable AMSAT and OSCAR Satellites 500 24.5 The Development of CubeSats 503 24.6 FUNcube Satellites 504 24.7 Fox Satellites 505 24.8 GOLF Satellites 505 24.9 The IARU and ITU Resolution 659 506 References 507 24 II-4b New Radio Technologies 508Andrew Barron (ZL3DW) 24.10 Introduction 508 24.11 SDR Space Segment 509 24.12 SDR Ground Segment 510 24.13 Modern Transmitter Design 511 Reference 513 25 III-1a Cost Breakdown for the Development of Nanosatellites 515Katharine Brumbaugh Gamble 25.1 Introduction 515 25.2 Recurring Costs 517 25.3 Nonrecurring Costs 521 25.4 Satellite Cost-estimating Models 523 25.5 Risk Estimation and Reduction 528 25.6 Conclusions 530 References 530 26 III-1b Launch Costs 533Merlin F. Barschke 26.1 Introduction 533 26.2 Launching Nanosatellites 533 26.3 Launch Sites 539 26.4 Launch Milestones 539 26.5 Launch Cost 540 References 541 27 III-2a Policies and Regulations in Europe 545Neta Palkovitz 27.1 Introduction 545 27.2 International Space Law 545 27.3 National Laws and Practices in EU Member States 550 27.4 Future Regulation and Prospects 554 References 555 28 III-2b Policies and Regulations in North America 557Mike Miller and Kirk Woellert 28.1 Introduction 557 28.2 Governing Treaties and Laws 558 28.3 Orbital Debris Mitigation 561 28.4 Space Traffic Management 563 28.5 Licensing of Radio Transmission from Space 566 28.6 Licensing for Remote Sensing Activities from Space 570 28.7 Export Control Laws 571 28.8 Conclusion 575 References 577 29 III-2c International Organizations and International Cooperation 583Jean-Francois Mayence 29.1 Introduction 583 29.2 The United Nations and Affiliated Organizations 584 29.3 International Telecommunications Union 589 29.4 Other United Nations Agencies and Bodies 590 29.5 Non-UN Organizations 593 29.6 Main Non-European Spacefaring Nations 597 29.7 Conclusions 600 References 601 30 III-3a Economy of Small Satellites 603Richard Joye 30.1 Introduction 603 30.2 Rethinking the Value Chain 603 30.3 A Hybrid Small Satellite Value Chain 604 30.4 Evolution, Not Revolution? 611 30.5 The Economics at Play 612 30.6 Satellite Manufacturers 612 30.7 Launch Service Providers 614 30.8 Satellite Operators 615 30.9 Satellite Servicing Providers 616 30.10 Data and Solution Providers 616 30.11 A Shift Toward New Models 617 References 618 Further Reading 618 31 III-3b Economics and the Future 621Richard Joye 31.1 Introduction 621 31.2 Themes Shaping the Space Industry 622 31.3 Megatrends 624 31.4 Conclusion: The Space Industry is in Mutation 632 Further Reading 632 32 III-3c Networks of Nanosatellites 635Richard Joye 32.1 Introduction 635 32.2 Why Networks? 635 32.3 Opportunities for Networks of Nanosatellites 641 32.4 Challenges and Issues 646 Reference 648 Further Reading 648 List of Existing and Upcoming Networks of Satellites – January 2018, Updated March 2019 649 Index 663

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Book SynopsisProvides easy learning and understanding of DWT from a signal processing point of view Presents DWT from a digital signal processing point of view, in contrast to the usual mathematical approach, making it highly accessible Offers a comprehensive coverage of related topics, including convolution and correlation, Fourier transform, FIR filter, orthogonal and biorthogonal filters Organized systematically, starting from the fundamentals of signal processing to the more advanced topics of DWT and Discrete Wavelet Packet Transform. Written in a clear and concise manner with abundant examples, figures and detailed explanations Features a companion website that has several MATLAB programs for the implementation of the DWT with commonly used filters This well-written textbook is an introduction to the theory of discrete wavelet transform (DWT) and its applications in digital signal and image processing.Trade Review"Doubtless, this nice book will stimulate the practical education in the theory of DWT and its applications." (Zentralblatt MATH, 2016)Table of ContentsPreface xi List of Abbreviations xiii 1 Introduction 1 1.1 The Organization of This Book 2 2 Signals 5 2.1 Signal Classifications 5 2.1.1 Periodic and Aperiodic Signals 5 2.1.2 Even and Odd Signals 6 2.1.3 Energy Signals 7 2.1.4 Causal and Noncausal Signals 9 2.2 Basic Signals 9 2.2.1 Unit-Impulse Signal 9 2.2.2 Unit-Step Signal 10 2.2.3 The Sinusoid 10 2.3 The Sampling Theorem and the Aliasing Effect 12 2.4 Signal Operations 13 2.4.1 Time Shifting 13 2.4.2 Time Reversal 14 2.4.3 Time Scaling 14 2.5 Summary 17 Exercises 17 3 Convolution and Correlation 21 3.1 Convolution 21 3.1.1 The Linear Convolution 21 3.1.2 Properties of Convolution 24 3.1.3 The Periodic Convolution 25 3.1.4 The Border Problem 25 3.1.5 Convolution in the DWT 26 3.2 Correlation 28 3.2.1 The Linear Correlation 28 3.2.2 Correlation and Fourier Analysis 29 3.2.3 Correlation in the DWT 30 3.3 Summary 31 Exercises 31 4 Fourier Analysis of Discrete Signals 37 4.1 Transform Analysis 37 4.2 The Discrete Fourier Transform 38 4.2.1 Parseval’s Theorem 43 4.3 The Discrete-Time Fourier Transform 44 4.3.1 Convolution 48 4.3.2 Convolution in the DWT 48 4.3.3 Correlation 50 4.3.4 Correlation in the DWT 50 4.3.5 Time Expansion 52 4.3.6 Sampling Theorem 52 4.3.7 Parseval’s Theorem 54 4.4 Approximation of the DTFT 55 4.5 The Fourier Transform 56 4.6 Summary 56 Exercises 57 5 Thez-Transform 59 5.1 The z-Transform 59 5.2 Properties of the z-Transform 60 5.2.1 Linearity 60 5.2.2 Time Shift of a Sequence 61 5.2.3 Convolution 61 5.3 Summary 62 Exercises 62 6 Finite Impulse Response Filters 63 6.1 Characterization 63 6.1.1 Ideal Lowpass Filters 64 6.1.2 Ideal Highpass Filters 65 6.1.3 Ideal Bandpass Filters 66 6.2 Linear Phase Response 66 6.2.1 Even-Symmetric FIR Filters with Odd Number of Coefficients 67 6.2.2 Even-Symmetric FIR Filters with Even Number of Coefficients 68 6.3 Summary 69 Exercises 69 7 Multirate Digital Signal Processing 71 7.1 Decimation 72 7.1.1 Downsampling in the Frequency-Domain 72 7.1.2 Downsampling Followed by Filtering 75 7.2 Interpolation 77 7.2.1 Upsampling in the Frequency-Domain 77 7.2.2 Filtering Followed by Upsampling 78 7.3 Two-Channel Filter Bank 79 7.3.1 Perfect Reconstruction Conditions 81 7.4 Polyphase Form of the Two-Channel Filter Bank 84 7.4.1 Decimation 84 7.4.2 Interpolation 87 7.4.3 Polyphase Form of the Filter Bank 91 7.5 Summary 94 Exercises 94 8 The Haar Discrete Wavelet Transform 97 8.1 Introduction 97 8.1.1 Signal Representation 97 8.1.2 The Wavelet Transform Concept 98 8.1.3 Fourier and Wavelet Transform Analyses 98 8.1.4 Time-Frequency Domain 99 8.2 The Haar Discrete Wavelet Transform 100 8.2.1 The Haar DWT and the 2-Point DFT 102 8.2.2 The Haar Transform Matrix 103 8.3 The Time-Frequency Plane 107 8.4 Wavelets from the Filter Coefficients 111 8.4.1 Two Scale Relations 116 8.5 The 2-D Haar Discrete Wavelet Transform 118 8.6 Discontinuity Detection 126 8.7 Summary 127 Exercises 128 9 Orthogonal Filter Banks 131 9.1 Haar Filter 132 9.2 Daubechies Filter 135 9.3 Orthogonality Conditions 146 9.3.1 Characteristics of Daubechies Lowpass Filters 149 9.4 Coiflet Filter 150 9.5 Summary 154 Exercises 155 10 Biorthogonal Filter Banks 159 10.1 Biorthogonal Filters 159 10.2 5/3 Spline Filter 163 10.2.1 Daubechies Formulation 170 10.3 4/4 Spline Filter 170 10.3.1 Daubechies Formulation 177 10.4 CDF 9/7 Filter 178 10.5 Summary 183 Exercises 184 11 Implementation of the Discrete Wavelet Transform 189 11.1 Implementation of the DWT with Haar Filters 190 11.1.1 1-Level Haar DWT 190 11.1.2 2-Level Haar DWT 191 11.1.3 1-Level Haar 2-D DWT 193 11.1.4 The Signal-Flow Graph of the Fast Haar DWT Algorithms 194 11.1.5 Haar DWT in Place 196 11.2 Symmetrical Extension of the Data 198 11.3 Implementation of the DWT with the D4 Filter 200 11.4 Implementation of the DWT with Symmetrical Filters 203 11.4.1 5/3 Spline Filter 203 11.4.2 CDF 9/7 Filter 205 11.4.3 4/4 Spline Filter 208 11.5 Implementation of the DWT using Factorized Polyphase Matrix 210 11.5.1 Haar Filter 211 11.5.2 D4 Filter 213 11.5.3 5/3 Spline Filter 216 11.6 Summary 219 Exercises 219 12 The Discrete Wavelet Packet Transform 223 12.1 The Discrete Wavelet Packet Transform 223 12.1.1 Number of Representations 226 12.2 Best Representation 227 12.2.1 Cost Functions 230 12.3 Summary 233 Exercises 233 13 The Discrete Stationary Wavelet Transform 235 13.1 The Discrete Stationary Wavelet Transform 235 13.1.1 The SWT 235 13.1.2 The ISWT 236 13.1.3 Algorithms for Computing the SWT and the ISWT 238 13.1.4 2-D SWT 243 13.2 Summary 244 Exercises 244 14 The Dual-Tree Discrete Wavelet Transform 247 14.1 The Dual-Tree Discrete Wavelet Transform 248 14.1.1 Parseval’s Theorem 248 14.2 The Scaling and Wavelet Functions 252 14.3 Computation of the DTDWT 253 14.4 Summary 262 Exercises 263 15 Image Compression 265 15.1 Lossy Image Compression 266 15.1.1 Transformation 266 15.1.2 Quantization 268 15.1.3 Coding 270 15.1.4 Compression Algorithm 273 15.1.5 Image Reconstruction 277 15.2 Lossless Image Compression 284 15.3 Recent Trends in Image Compression 289 15.3.1 The JPEG2000 Image Compression Standard 290 15.4 Summary 290 Exercises 291 16 Denoising 295 16.1 Denoising 295 16.1.1 Soft Thresholding 296 16.1.2 Statistical Measures 297 16.2 VisuShrink Denoising Algorithm 298 16.3 Summary 303 Exercises 303 Bibliography 305 Answers to Selected Exercises 307 Index 319

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Book SynopsisThe first microcontroller textbook to provide complete and systemic introductions to all components and materials related to the ARM Cortex-M4 microcontroller system, including hardware and software as well as practical applications with real examples.This book covers both the fundamentals, as well as practical techniques in designing and building microcontrollers in industrial and commercial applications. Examples included in this book have been compiled, built, and tested Includes Both ARM assembly and C codes Direct Register Access (DRA) model and the Software Driver (SD) model programming techniques and discussed If you are an instructor and adopted this book for your course, please email ieeeproposals@wiley.com to get access to theinstructor files for this book.Table of ContentsPreface xxix Acknowledgments xxxi Trademarks and Copyrights xxxiii Copyright Permissions xxxv About the Companion Website xxxix Chapter 1 Introduction to Microcontrollers and This Book 1 1.1 Microcontroller Configuration and Structure 2 1.2 The ARM® Cortex®M4 Microcontroller System 3 1.3 The TM4C123GH6PM Microcontroller Development Tools and Kits 4 1.4 Outstanding Features About This Book 5 1.5 Who This Book Is For 5 1.6 What This Book Covers 6 1.7 How This Book Is Organized and How to Use This Book 8 1.8 How to Use the Source Code and Sample Projects 9 1.9 Instructors and Customers Supports 11 Chapter 2 ARM® Microcontroller Architectures 13 2.1 Overview and Introduction 13 2.2 Introduction to ARM® Cortex®-M4 MCU 15 2.2.1 The Architecture of ARM® Cortex®-M4 MCU 17 2.3 The Memory Architecture 27 2.3.1 The Memory Map 28 2.3.2 The Stack Memory 29 2.3.3 The Program Models and States 32 2.3.4 The Memory Protection Unit (MPU) 33 2.4 The Nested Vectored Interrupt Controller (NVIC) Architecture 34 2.4.1 The Nested Vectored Interrupt Controller (NVIC) Features 35 2.4.2 Exception and Interrupt Sources 35 2.4.3 Exception Priority Levels and Mask Registers 35 2.4.4 Respond and Process Exceptions and Interrupts 36 2.4.5 Exception and Interrupt Vector Table 37 2.5 The Debug Architecture 37 2.6 Introduction to TivaTM C Series ARM® Cortex®-M4 MCU-TM4C123GH6PM 38 2.6.1 TM4C123GH6PM Microcontroller Overview 39 2.6.2 TM4C123GH6PM Microcontroller On-Chip Memory Map 40 2.6.3 TM4C123GH6PM Microcontroller General-Purpose Input–Output (GPIO) Module 44 2.6.4 TM4C123GH6PM Microcontroller System Controls 57 2.7 Introduction to TivaTM C Series LaunchPadTM TM4C123GXL Evaluation Board 72 2.8 Introduction to EduBASE ARM® Trainer 77 2.9 Chapter Summary 77 Homework 79 Chapter 3 ARM® Microcontroller Development Kits 83 3.1 Overview and Introduction 83 3.2 The Entire TivaTM TM4C123G-based Development System 84 3.3 Download and Install Development Suite and Specified Firmware 86 3.4 Introduction to the Integrated Development Environment—Keil® MDK μVersion5 87 3.4.1 The Keil® MDK-ARM® for the MDK-Cortex-M Family 88 3.4.2 General Development Flow with MDK-ARM® 89 3.4.3 Warming Up Keil® MDK Cortex-M Kit with Example Projects 91 3.4.4 The Functions of the Keil® MDK-ARM® μVersion®5 GUI 95 3.5 Embedded Software Development Procedure 127 3.6 The Keil® ARM® -MDK μVision5 Debugger and Debug Process 128 3.6.1 The ARM® μVision5 Debug Architecture 129 3.6.2 The ARM® Debug Adaptor and Debug Adaptor Driver 130 3.6.3 TivaTMCSeries LaunchPadTM Debug Adaptor and Debug Adaptor Driver 132 3.6.4 The ARM® μVersion5 Debug Process 133 3.6.5 The ARM® Trace Feature 134 3.6.6 The ARM® Instruction Set Simulator 136 3.6.7 The ARM® Programs Running from SRAM 137 3.6.8 ARM® Optimizations 139 3.7 The TivaWareTM for C Series Software Suite 140 3.7.1 The TivaWareTM C Series Software Package 142 3.7.2 TivaWareTM C Series for TM4C123G LaunchPadTM Evaluation Kit 145 3.8 The TivaWareTM for C Series Utilities and Other Supports 147 3.8.1 Additional Utilities Provided by TivaWareTM for C Series 148 3.9 Program Examples 151 3.10 Chapter Summary 152 Homework 152 Chapter 4 ARM® Microcontroller Software and Instruction Set 155 4.1 Overview and Introduction 155 4.2 Introduction to ARM® Cortex® -M4 Software Development Structure 156 4.3 Introduction to ARM® Cortex® -M4 Assembly Instruction Set 157 4.3.1 The ARM®Cortex®-M4 Assembly Language Syntax 158 4.3.2 The ARM® Cortex®-M4 Pseudo Instructions 160 4.3.3 The ARM® Cortex®-M4 Addressing Modes 161 4.3.4 The ARM® Cortex®-M4 Instruction Set Categories 172 4.4 ARM® Cortex®-M4 Software Development Procedures 196 4.5 Using C Language to Develop ARM® Cortex®-M4 Microcontroller Applications 197 4.5.1 The Standard Data Types Used in Intrinsic Functions 198 4.5.2 The CMSIS-Core-Specific Intrinsic Functions 200 4.5.3 The Keil® ARM® Compiler-Specific Intrinsic Functions 202 4.5.4 Inline Assembler 204 4.5.5 Idiom Recognition 205 4.5.6 C Programming Development Guideline and Procedure 206 4.5.7 The TivaWareTM Peripheral Driver Library 213 4.6 Chapter Summary 243 Homework 244 Chapter 5 ARM® Microcontroller Interrupts and Exceptions 261 5.1 Overview and Introduction 261 5.2 Exceptions and Interrupts in the ARM® Cortex®-M4 MCU System 263 5.2.1 Exception and Interrupt Types 265 5.2.2 Exceptions and Interrupts Management 265 5.2.3 Exception and Interrupt Processing 268 5.3 Exceptions and Interrupts in the TM4C123GH6PM Microcontroller System 273 5.3.1 Local Interrupt Configurations and Controls for GPIO Pins 273 5.3.2 Local Interrupt Configurations and Controls for GPIO Ports 276 5.3.3 Global Interrupt Configurations and Controls 281 5.3.4 The Vector Table and Vectors Used in the TM4C123GH6PM MCU 282 5.3.5 The GPIO Interrupt Handling and Processing Procedure 284 5.4 Developing GPIO Port Interrupt Projects to Handle GPIO Interrupts 285 5.4.1 Two Software Packages Used in the TM4C123GH6PM MCU System 286 5.4.2 Using DRA Programming Model to Handle GPIO Interrupts 290 5.4.3 Using CMSIS Core Macros for NVIC Registers to Handle GPIO Interrupts 294 5.4.4 Using TivaWareTM Peripheral Driver Library API Functions to Handle GPIO Interrupts 306 5.4.5 Using CMSIS Core Access Functions to Handle GPIO Interrupts 313 5.5 Comparison Among Four Interrupt Programming Methods 317 5.6 Chapter Summary 318 Homework 319 Chapter 6 ARM® Microcontroller Memory System 333 6.1 Overview and Introduction 333 6.2 Memory Architecture in the TM4C123GH6PM MCU System 334 6.2.1 Static Random Access Memory (SRAM) 336 6.2.2 Flash Memory 336 6.2.3 Flash Memory Protection Control 349 6.2.4 Internal Read-Only Memory (ROM) 351 6.2.5 Electrical Erased Programmable Read-Only Memory (EEPROM) 354 6.3 Memory Map in TM4C123GH6PM MCU System 361 6.4 Bit-Band Operations 362 6.4.1 The Mapping Relationship Between the Bit-Band Region and the Bit-Band Alias Region 365 6.4.2 The Advantages of Using the Bit-Band Operations 365 6.4.3 An Illustration Example of Using Bit-Band Alias Addresses 367 6.4.4 Bit-Band Operations for Different Data Sizes 369 6.4.5 Bit-Band Operations Built in C Programs 369 6.5 Memory Requirements and Memory Properties 370 6.5.1 Memory Requirements 371 6.5.2 Memory Access Attributes 372 6.5.3 Memory Endianness 373 6.6 Memory System Programming Methods 375 6.6.1 The API Functions Used for Flash Memory Programming 376 6.6.2 The API Functions Used for EEPROM Programming 378 6.7 Memory System Programming Projects 380 6.7.1 Flash Memory Programming 380 6.7.2 EEPROM Programming 401 6.7.3 Three Kinds of System Header Files in the TM4C123GH6PM MCU System 405 6.7.4 Build Example EEPROM Programming Projects 408 6.8 Chapter Summary 420 Homework 421 Chapter 7 ARM® Cortex®-M4 Parallel I/O Ports Programming 433 7.1 Overview and Introduction 433 7.2 GPIO Module Architecture and GPIO Port Configuration 434 7.3 GPIO Port Control Registers 437 7.3.1 GPIO Port Initialization and Configuration 438 7.4 On-Board Keypad Interface Programming Project 440 7.4.1 The Keypad Interfacing Programming Structure 441 7.4.2 Create the Keypad Interfacing Programming Project (Polling-Driven) 442 7.4.3 Set Up the Environment to Build and Run the Project 446 7.5 Analog-to-Digital Converter Programming Project 446 7.5.1 ADC Modules in the TM4C123GH6PM MCU System 446 7.5.2 ADC Module Architecture and Functional Block Diagram 447 7.5.3 ADC Module Components and Signal Descriptions 448 7.5.4 Analog-to-Digital Converter 470 7.5.5 Initialization and Configuration 473 7.5.6 Build the Analog-to-Digital Converter Programming Project 475 7.5.7 ADC Module API Functions Provided in the TivaWareTM Peripheral Driver Library 480 7.6 PWM-Controlled DC and Step Motors Programming Project 486 7.6.1 The PWM Principle and Implementations 487 7.6.2 PWM Modules in the TM4C123GH6PM MCU System 487 7.6.3 PWM Generator Functional Block Diagram 490 7.6.4 PWM Module Architecture and Functional Block Diagram 502 7.6.5 PWM Module Components and Signal Descriptions 509 7.6.6 PWM Module Initialization and Configuration 513 7.6.7 PWM Module Architecture in the EduBASE ARM® Trainer 515 7.6.8 Build an Example PWM Programming Project 516 7.7 The PWM API Functions in the TivaWareTM Peripheral Driver Library 521 7.7.1 PWM Modules and Generators Configuration and Set Up Control Functions 521 7.7.2 PWM Output Control Functions 523 7.7.3 PWM Interrupt and Fault Control Functions 523 7.8 Chapter Summary 525 Homework 527 Chapter 8 ARM® Cortex®-M4 Serial I/O Ports Programming 547 8.1 Overview and Introduction 547 8.2 GPIO Module Architecture and GPIO Port Configuration 548 8.3 Synchronous Serial Interface (SSI) 551 8.3.1 Asynchronous and Synchronous Communication Protocols and Data Framing 552 8.3.2 Synchronous Serial Interface Architecture and Functional Block Diagram 555 8.3.3 The Synchronous Data Transmission Format and Frame 556 8.3.4 SSI Module Components and Signal Descriptions 560 8.3.5 Build the On-Board LCD Interface Programming Project 572 8.3.6 Build On-Board 7-Segment LED Interface Programming Project 589 8.3.7 Build Digital-to-Analog Converter Programming Project 595 8.3.8 SSI API Functions Provided by TivaWareTM Peripheral Driver Library 604 8.4 Inter-Integrated Circuit (I2C) Interface 611 8.4.1 I2C Module Bus Configuration and Operational Status 612 8.4.2 I2C Module Architecture and Functional Block Diagram 613 8.4.3 I2C Module Data Transfer Format and Frame 614 8.4.4 I2C Module Operational Sequence 614 8.4.5 I2C Module Major Operational Components and Control Signals 618 8.4.6 I2C Module Running Speeds (Clock Rates) and Interrupts 620 8.4.7 I2C Interface Control Signals and GPIO I2C Control Registers 622 8.4.8 I2C Module Control Registers and Their Functions 623 8.4.9 I2C Module Initializations and Configurations 630 8.4.10 Build an Example I2C Module Project 631 8.4.10.1 The BQ32000 Real Time Clock (RTC) 631 8.4.10.2 The Interface Between the BQ32000 and EduBASE ARM® Trainer 633 8.4.10.3 Create a DRA Model I2C Project DRAI2C 634 8.4.10.4 Create the Source File DRAI2C 634 8.4.10.5 Set Up the Environment to Build and Run the Project 638 8.4.11 I2C API Functions Provided by TivaWareTM Peripheral Driver Library 639 8.4.11.1 Master Operations 639 8.4.11.2 I2C Module Status and Initialization API Functions 640 8.4.11.3 I2C Module Sending and Receiving Data API Functions 641 8.5 Universal Asynchronous Receivers/Transmitters (UARTs) 642 8.5.1 Asynchronous Serial Communication Protocols and Data Framing 642 8.5.2 Asynchronous Serial Interface Architecture and Functional Block Diagram 643 8.5.3 UART Module Operations and Control Registers 645 8.5.4 UART Module Control Signals and Related GPIO Pins 658 8.5.5 UART Module Initializations and Configurations 659 8.5.6 Build an Example UART Module Project 660 8.5.7 The UART API Functions Provided by the TivaWareTM Peripheral Driver Library 664 8.6 Chapter Summary 668 Homework 669 Chapter 9 ARM® Cortex®-M4 Timer and USB Programming 691 9.1 Overview and Introduction 691 9.2 General-Purpose Timers 692 9.2.1 The GPTM Architecture and Functional Block Diagram 693 9.2.2 The General-Purpose Timer Module Components 694 9.2.3 The General-Purpose Timer Module Operational Modes 695 9.2.4 The General-Purpose Timer Module Registers 704 9.2.5 The General-Purpose Timer Module GPIO-Related Control Signals 712 9.2.6 The General-Purpose Timer Module Initializations and Configurations 713 9.2.7 Build an Example General Purpose Timer Project 717 9.2.8 Popular Implementations on GPTM Modules 718 9.2.9 The API Functions Used for General-Purpose Timer Module 727 9.3 Watchdog Timers 732 9.3.1 The Watchdog Timer Architecture and Functional Block Diagram 734 9.3.2 The Watchdog Timer Operational Sequence and Timing Access 735 9.3.3 The Watchdog Timer Registers 735 9.3.4 The Watchdog Timer Module Initializations and Configurations 738 9.3.5 Build an Example Watchdog Timer Project 739 9.3.6 The API Functions Used for Watchdog Timer Modules 739 9.4 Universal Serial Bus (USB) Controller 743 9.4.1 The Hardware Configuration of the USB Devices 744 9.4.2 The USB Components and Operational Sequence 745 9.4.3 The Serial Interface Protocol of the USB Communications 747 9.4.4 The USB Interface Used in the Embedded System 748 9.4.5 The USB in the TM4C123GH6PM MCU System 749 9.4.6 The USB Registers 761 9.4.7 The USB Initializations and Configurations 774 9.4.8 A USB Implementation Example Project 775 9.4.9 The USB API Functions Provided by the TivaWareTM Peripheral Driver Library 780 9.4.10 Build a USB Implementation Example Project Using the API Functions 788 9.5 Chapter Summary 788 Homework 790 Chapter 10 ARM® Cortex®-M4 Other Peripherals Programming 805 10.1 Overview and Introduction 805 10.2 The Controller Area Network (CAN) 805 10.2.1 CAN Standard Frame 806 10.2.2 CAN Extended Frame 807 10.2.3 Detecting and Signaling Errors 808 10.2.4 The CAN Functional Block Diagram in the TM4C123GH6PM System 809 10.2.5 The CAN Components and Operational Procedures 810 10.2.6 The CAN Module Registers 823 10.2.7 The CAN Module Interfacing and External Control Signals 833 10.2.8 The CAN API Functions Provided by TivaWareTM Peripheral Driver Library 834 10.2.9 A CAN Module Implementation Example Project 838 10.3 The Quadrature Encoder Interface (QEI) 847 10.3.1 Introduction to Quadrature Encoder 847 10.3.2 The Working Principle of the Increment Rotary Encoder 849 10.3.3 The Increment Rotary Encoder Applied in the Closed-Loop Control System 850 10.3.4 The Increment Rotary Encoder Applied in the TM4C123GH6PM MCU System 851 10.3.5 The QEI Module Registers 852 10.3.6 The QEI Interfacing Signals and Related GPIO Pins 856 10.3.7 The QEI Initialization and Configuration Process 856 10.3.8 QEI API Functions Provided by the TivaWareTM Peripheral Driver Library 857 10.3.9 An Implementation of Using Rotary Encoder for a Closed-Loop Control System 860 10.4 The Continuous and Discrete PID Closed-Loop Control System 871 10.4.1 Identify the Dynamic Model for the Motor Plant 873 10.4.2 Design the PID Controller Using the MATLAB®Control System ToolboxTM 878 10.4.3 Simulate the PID Control System Using the MATLAB® SIMULINK® 881 10.4.4 Build the Control Software to Implement the PID Controller 883 10.5 The Fuzzy Logic Closed-Loop Control System 887 10.5.1 The Fuzzification Process 887 10.5.2 Design of Control Rules 889 10.5.3 The Defuzzification Process 889 10.5.4 Apply the Fuzzy Logic Controller to the DC Motor Control System 891 10.5.5 Build the Fuzzy Logic Control Project Fuzzy-Control 894 10.6 The Analog Comparators 899 10.6.1 The Analog Comparator Architecture and Functional Block Diagram 899 10.6.2 The Control Registers Used in the Analog Comparator Modules 899 10.6.3 The Voltage Reference Registers Used in the Analog Comparator Modules 900 10.6.4 The Interrupt Processing Registers Used in the Analog Comparator Modules 903 10.6.5 The Input and Output Control Signals Used in the Analog Comparators 903 10.6.6 The Initialization and Configuration Process for the Analog Comparator 904 10.6.7 Build a Project to Test the Functions of the Analog Comparator Module 904 10.6.8 Set Up the Environments to Build and Run the Project 907 10.7 Chapter Summary 908 Homework 909 Chapter 11 ARM® Floating Point Unit (FPU) 927 11.1 Overview and Introduction 927 11.2 Three Types of the Floating-Point Data 928 11.2.1 The Half-Precision Floating-Point Data 928 11.2.2 The Single-Precision Floating-Point Data 930 11.2.3 The Double-Precision Floating-Point Data 932 11.3 The FPU in the Cortex®-M4 MCU 934 11.3.1 The Architecture of the Floating-Point Registers 934 11.3.2 The FPU Operational Modes 937 11.4 Implementing the Floating-Point Unit 938 11.4.1 Floating-Point Support in CMSIS-Core 938 11.4.2 Floating-Point Programming in the TM4C123GH6PM MCU System 939 11.4.3 An FPU Example Project Using the Direct Register Access Model 942 11.5 Chapter Summary 946 Homework 946 Chapter 12 ARM® Memory Protection Unit (MPU) 951 12.1 Overview and Introduction 951 12.2 Implementation of the MPU 952 12.2.1 Memory Regions, Types, and Attributes 953 12.2.2 MPU Configuration and Control Registers 953 12.3 Initialization and Configuration of the MPU 959 12.4 Building A Practical Example MPU Project 960 12.4.1 Create a New DRA Model MPU Project DRAMPU 960 12.4.2 Set Up the Environment to Build and Run the Project 963 12.5 The API Functions Provided by the TivaWareTM Peripheral Driver Library 964 12.5.1 The MPU Set Up and Status API Functions 965 12.5.2 The MPU Enable and Disable API Functions 967 12.5.3 The MPU Interrupt Handler Control API Functions 968 12.6 Chapter Summary 969 Homework 970 Index 975 About the Author 987

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Book SynopsisDesigned to complement a range of power electronics study resources, this unique lab manual helps students to gain a deep understanding of the operation, modeling, analysis, design, and performance of pulse-width modulated (PWM) DC-DC power converters. Exercises focus on three essential areas of power electronics: open-loop power stages; small-signal modeling, design of feedback loops and PWM DC-DC converter control schemes; and semiconductor devices such as silicon, silicon carbide and gallium nitride. Meeting the standards required by industrial employers, the lab manual combines programming language with a simulation tool designed for proficiency in the theoretical and practical concepts. Students and instructors can choose from an extensive list of topics involving simulations on MATLAB, SABER, or SPICE-based platforms, enabling readers to gain the most out of the prelab, inlab, and postlab activities. The laboratory exercises have been taught and continuously imprTable of ContentsPreface ix Acknowledgments xiii List of Symbols xv Part I Open-Loop Pulse-Width Modulated DC–DC Converters—Steady-State and Performance Analysis and Simulation of Converter Topologies 1 Boost DC–DC Converter in CCM—Steady-State Simulation 3 2 Efficiency and DC Voltage Transfer Function of PWM Boost DC–DC Converter in CCM 7 3 Boost DC–DC Converter in DCM—Steady-State Simulation 11 4 Efficiency and DC Voltage Transfer Function of PWM Boost DC–DC Converter in DCM 15 5 Open-Loop Boost AC–DC Power Factor Corrector—Steady-State Simulation 19 6 Buck DC–DC Converter in CCM—Steady-State Simulation 23 7 Efficiency and DC Voltage Transfer Function of PWM Buck DC–DC Converter in CCM 27 8 Buck DC–DC Converter in DCM—Steady-State Simulation 31 9 Efficiency and DC Voltage Transfer Function of PWM Buck DC–DC Converter in DCM 35 10 High-Side Gate-Drive Circuit for Buck DC–DC Converter 39 11 Quadratic Buck DC–DC Converter in CCM—Steady-State Simulation 41 12 Buck–Boost DC–DC Converter in CCM—Steady-State Simulation 45 13 Efficiency and DC Voltage Transfer Function of PWM Buck–Boost DC–DC Converter in CCM 49 14 Buck–Boost DC–DC Converter in DCM—Steady-State Simulation 53 15 Efficiency and DC Voltage Transfer Function of PWM Buck–Boost DC–DC Converter in DCM 57 16 Flyback DC–DC Converter in CCM—Steady-State Simulation 61 17 Efficiency and DC Voltage Transfer Function of PWM Flyback DC–DC Converters in CCM 65 18 Multiple-Output Flyback DC–DC Converter in CCM 69 19 Flyback DC–DC Converter in DCM—Steady-State Simulation 73 20 Efficiency and DC Voltage Transfer Function of PWM Flyback DC–DC Converter in DCM 77 21 Forward DC–DC Converter in CCM—Steady-State Simulation 81 22 Efficiency and DC Voltage Transfer Function of PWM Forward DC–DC Converter in CCM 85 23 Forward DC–DC Converter in DCM—Steady-State Simulation 89 24 Efficiency and DC Voltage Transfer Function of PWM Forward DC–DC Converter in DCM 93 25 Half-Bridge DC–DC Converter in CCM—Steady-State Simulation 97 26 Efficiency and DC Voltage Transfer Function of PWM Half-Bridge DC–DC Converter in CCM 101 27 Full-Bridge DC–DC Converter in CCM—Steady-State Simulation 105 28 Efficiency and DC Voltage Transfer Function of PWM Full-Bridge DC–DC Converters in CCM 109 Part II Closed-Loop Pulse-Width Modulated DC–DC Converters—Transient Analysis, Small-Signal Modeling, and Control 29 Design of the Pulse-Width Modulator and the PWM Boost DC–DC Converter in CCM 115 30 Dynamic Analysis of the Open-Loop PWM Boost DC–DC Converter in CCM for Step Change in the Input Voltage, Load Resistance, and Duty Cycle 119 31 Open-Loop Control-to-Output Voltage Transfer Function of the Boost Converter in CCM 123 32 Root Locus and 3D Plot of the Control-to-Output Voltage Transfer Function 129 33 Open-Loop Input-to-Output Voltage Transfer Function of the Boost Converter in CCM 133 34 Open-Loop Small-Signal Input and Output Impedances of the Boost Converter in CCM 137 35 Feedforward Control of the Boost DC–DC Converter in CCM 141 36 P, PI, and PID Controller Design 145 37 P, PI, and PID Controllers: Bode and Transient Analysis 149 38 Transfer Functions of the Pulse-Width Modulator, Boost Converter Power Stage, and Feedback Network 153 39 Closed-Loop Control-to-Output Voltage Transfer Function with Unity-Gain Control 157 40 Simulation of the Closed-Loop Boost Converter with Proportional Control 161 41 Voltage-Mode Control of Boost DC–DC Converter with Integral-Double-Lead Controller 165 42 Control-to-Output Voltage Transfer Function of the Open-Loop Buck DC–DC Converter 169 43 Voltage-Mode Control of Buck DC–DC Converter 173 44 Feedforward Control of the Buck DC–DC Converter in CCM 179 Part III Semiconductor Materials and Power Devices 45 Temperature Dependence of Si and SiC Semiconductor Materials 187 46 Dynamic Characteristics of the PN Junction Diode 191 47 Characteristics of the Silicon and Silicon-Carbide PN Junction Diodes 195 48 Analysis of the Output and Switching Characteristics of Power MOSFETs 199 49 Short-Channel Effects in MOSFETs 201 50 Gallium-Nitride Semiconductor: Material Properties 205 Appendices 209 A Design Equations for Continuous-Conduction Mode 211 B Design Equations for Discontinuous-Conduction Mode 215 C Simulation Tools 219 D MOSFET Parameters 231 E Diode Parameters 233 F Selected MOSFETs Spice Models 235 G Selected Diodes Spice Models 237 H Physical Constants 239 I Format of Lab Report 241 Index 245

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Book SynopsisThe essential guide to the entire process behind performing a complete characterization and benchmarking of cameras through image quality analysis Camera Image Quality Benchmarking contains the basic information and approaches for the use of subjectively correlated image quality metrics and outlines a framework for camera benchmarking. The authors show how to quantitatively compare image quality of cameras used for consumer photography. This book helps to fill a void in the literature by detailing the types of objective and subjective metrics that are fundamental to benchmarking still and video imaging devices. Specifically, the book provides an explanation of individual image quality attributes and how they manifest themselves to camera components and explores the key photographic still and video image quality metrics. The text also includes illustrative examples of benchmarking methods so that the practitioner can design a methodology appropriate to the photographic usage in considerTable of ContentsAbout the Authors xv Series Preface xvii Preface xix List of Abbreviations xxiii About the CompanionWebsite xxvii 1 Introduction 1 1.1 Image Content and Image Quality 2 1.1.1 Color 3 1.1.2 Shape 8 1.1.3 Texture 10 1.1.4 Depth 11 1.1.5 Luminance Range 12 1.1.6 Motion 15 1.2 Benchmarking 18 1.3 Book Content 22 Summary of this Chapter 24 References 25 2 Defining Image Quality 27 2.1 What is Image Quality? 27 2.2 Image Quality Attributes 29 2.3 Subjective and Objective Image Quality Assessment 31 Summary of this Chapter 32 References 33 3 Image Quality Attributes 35 3.1 Global Attributes 35 3.1.1 Exposure, Tonal Reproduction, and Flare 35 3.1.2 Color 39 3.1.3 Geometrical Artifacts 40 3.1.3.1 Perspective Distortion 40 3.1.3.2 Optical Distortion 42 3.1.3.3 Other Geometrical Artifacts 42 3.1.4 Nonuniformities 43 3.1.4.1 Luminance Shading 45 3.1.4.2 Color Shading 45 3.2 Local Attributes 45 3.2.1 Sharpness and Resolution 45 3.2.2 Noise 49 3.2.3 Texture Rendition 50 3.2.4 Color Fringing 50 3.2.5 Image Defects 51 3.2.6 Artifacts 51 3.2.6.1 Aliasing and Demosaicing Artifacts 52 3.2.6.2 Still Image Compression Artifacts 53 3.2.6.3 Flicker 53 3.2.6.4 HDR Processing Artifacts 55 3.2.6.5 Lens Ghosting 55 3.3 Video Quality Attributes 56 3.3.1 Frame Rate 56 3.3.2 Exposure and White Balance Responsiveness and Consistency 58 3.3.3 Focus Adaption 58 3.3.4 Audio-Visual Synchronization 58 3.3.5 Video Compression Artifacts 59 3.3.6 Temporal Noise 60 3.3.7 Fixed Pattern Noise 60 3.3.8 Mosquito Noise 60 Summary of this Chapter 60 References 61 4 The Camera 63 4.1 The Pinhole Camera 63 4.2 Lens 64 4.2.1 Aberrations 64 4.2.1.1 Third-Order Aberrations 65 4.2.1.2 Chromatic Aberrations 66 4.2.2 Optical Parameters 67 4.2.3 Relative Illumination 69 4.2.4 Depth of Field 70 4.2.5 Diffraction 71 4.2.6 Stray Light 73 4.2.7 Image Quality Attributes Related to the Lens 74 4.3 Image Sensor 75 4.3.1 CCD Image Sensors 75 4.3.2 CMOS Image Sensors 77 4.3.3 Color Imaging 81 4.3.4 Image Sensor Performance 82 4.3.5 CCD versus CMOS 89 4.3.6 Image Quality Attributes Related to the Image Sensor 90 4.4 Image Signal Processor 91 4.4.1 Image Processing 91 4.4.2 Image Compression 98 4.4.2.1 Chroma Subsampling 98 4.4.2.2 Transform Coding 98 4.4.2.3 Coefficient Quantization 99 4.4.2.4 Coefficient Compression 100 4.4.3 Control Algorithms 101 4.4.4 Image Quality Attributes Related to the ISP 101 4.5 Illumination 102 4.5.1 LED Flash 103 4.5.2 Xenon Flash 103 4.6 Video Processing 103 4.6.1 Video Stabilization 103 4.6.1.1 Global Motion Models 104 4.6.1.2 Global Motion Estimation 105 4.6.1.3 Global Motion Compensation 106 4.6.2 Video Compression 107 4.6.2.1 Computation of Residuals 107 4.6.2.2 Video Compression Standards and Codecs 109 4.6.2.3 Some Significant Video Compression Standards 110 4.6.2.4 A Note On Video Stream Structure 111 4.7 System Considerations 111 Summary of this Chapter 112 References 113 5 Subjective Image Quality Assessment—Theory and Practice 117 5.1 Psychophysics 118 5.2 Measurement Scales 120 5.3 PsychophysicalMethodologies 122 5.3.1 Rank Order 123 5.3.2 Category Scaling 123 5.3.3 Acceptability Scaling 124 5.3.4 Anchored Scaling 125 5.3.5 Forced-Choice Comparison 125 5.3.6 Magnitude Estimation 125 5.3.7 Methodology Comparison 126 5.4 Cross-Modal Psychophysics 126 5.4.1 Example Research 127 5.4.2 Image Quality-Related Demonstration 128 5.5 Thurstonian Scaling 129 5.6 Quality Ruler 131 5.6.1 Ruler Generation 134 5.6.2 Quality Ruler Insights 135 5.6.2.1 Lab Cross-Comparisons 135 5.6.2.2 SQS2 JND Validation 136 5.6.2.3 Quality Ruler Standard Deviation Trends 139 5.6.2.4 Observer Impact 141 5.6.3 Perspective from Academia 142 5.6.4 Practical Example 144 5.6.5 Quality Ruler Applications to Image Quality Benchmarking 147 5.7 Subjective Video Quality 148 5.7.1 Terminology 149 5.7.2 Observer Selection 149 5.7.3 Viewing Setup 150 5.7.4 Video Display and Playback 151 5.7.5 Clip Selection 152 5.7.6 Presentation Protocols 154 5.7.7 Assessment Methods 156 5.7.8 Interpreting Results 158 5.7.9 ITU Recommendations 159 5.7.9.1 The Double-Stimulus Impairment Scale Method 160 5.7.9.2 The Double-Stimulus Continuous Quality Scale Method 160 5.7.9.3 The Simultaneous Double-Stimulus for Continuous Evaluation Method 160 5.7.9.4 The Absolute Category Rating Method 161 5.7.9.5 The Single Stimulus Continuous Quality Evaluation Method 161 5.7.9.6 The Subjective Assessment of Multimedia Video Quality Method 161 5.7.9.7 ITU Methodology Comparison 162 5.7.10 Other Sources 162 Summary of this Chapter 162 References 163 6 Objective Image Quality Assessment—Theory and Practice 167 6.1 Exposure and Tone 168 6.1.1 Exposure Index and ISO Sensitivity 168 6.1.2 Optoelectronic Conversion Function 169 6.1.3 Practical Considerations 170 6.2 Dynamic Range 170 6.3 Color 171 6.3.1 Light Sources 171 6.3.2 Scene 174 6.3.3 Observer 176 6.3.4 Basic Color Metrics 178 6.3.5 RGB Color Spaces 180 6.3.6 Practical Considerations 181 6.4 Shading 181 6.4.1 Practical Considerations 182 6.5 Geometric Distortion 182 6.5.1 Practical Considerations 184 6.6 Stray Light 184 6.6.1 Practical Considerations 185 6.7 Sharpness and Resolution 185 6.7.1 The Modulation Transfer Function 186 6.7.2 The Contrast Transfer Function 191 6.7.3 Geometry in Optical Systems and the MTF 193 6.7.4 Sampling and Aliasing 194 6.7.5 System MTF 195 6.7.6 Measuring the MTF 198 6.7.7 Edge SFR 198 6.7.8 Sine Modulated Siemens Star SFR 201 6.7.9 Comparing Edge SFR and Sine Modulated Siemens SFR 203 6.7.10 Practical Considerations 204 6.8 Texture Blur 204 6.8.1 Chart Construction 206 6.8.2 Practical Considerations 206 6.8.3 AlternativeMethods 207 6.9 Noise 207 6.9.1 Noise and Color 207 6.9.2 Spatial Frequency Dependence 209 6.9.3 Signal to Noise Measurements in Nonlinear Systems and Noise Component Analysis 211 6.9.4 Practical Considerations 212 6.10 Color Fringing 213 6.11 Image Defects 214 6.12 Video Quality Metrics 214 6.12.1 Frame Rate and Frame Rate Consistency 215 6.12.2 Frame Exposure Time and Consistency 215 6.12.3 Auto White Balance Consistency 216 6.12.4 Autofocusing Time and Stability 216 6.12.5 Video Stabilization Performance 217 6.12.6 Audio-Video Synchronization 218 6.13 Related International Standards 218 Summary of this Chapter 221 References 221 7 Perceptually Correlated Image Quality Metrics 227 7.1 Aspects of Human Vision 227 7.1.1 Physiological Processes 227 7.2 HVS Modeling 232 7.3 Viewing Conditions 232 7.4 Spatial Image Quality Metrics 234 7.4.1 Sharpness 235 7.4.1.1 Edge Acutance 235 7.4.1.2 Mapping Acutance to JND Values 237 7.4.1.3 Other Perceptual Sharpness Metrics 239 7.4.2 Texture Blur 239 7.4.3 Visual Noise 240 7.5 Color 244 7.5.1 Chromatic Adaptation Transformations 244 7.5.2 Color Appearance Models 245 7.5.3 Color and Spatial Content—Image Appearance Models 247 7.5.4 Image Quality Benchmarking and Color 249 7.6 Other Metrics 251 7.7 Combination of Metrics 252 7.8 Full-Reference Digital Video Quality Metrics 252 7.8.1 PSNR 253 7.8.2 Structural Similarity (SSIM) 256 7.8.3 VQM 260 7.8.4 VDP 262 7.8.4.1 Further Considerations 263 7.8.5 Discussion 265 Summary of this Chapter 267 References 267 8 Measurement Protocols—Building Up a Lab 273 8.1 Still Objective Measurements 273 8.1.1 Lab Needs 274 8.1.1.1 Lab Space 274 8.1.1.2 Lighting 275 8.1.1.3 Light Booths 278 8.1.1.4 Transmissive Light Sources 279 8.1.1.5 Additional Lighting Options 280 8.1.1.6 Light Measurement Devices 281 8.1.2 Charts 282 8.1.2.1 Printing Technologies for Reflective Charts 282 8.1.2.2 Technologies for Transmissive Charts 286 8.1.2.3 Inhouse Printing 286 8.1.2.4 Chart Alignment and Framing 287 8.1.3 Camera Settings 289 8.1.4 Supplemental Equipment 289 8.1.4.1 RealWorld Objects 290 8.2 Video Objective Measurements 293 8.2.0.2 Visual Timer 293 8.2.0.3 Motion 294 8.3 Still Subjective Measurements 297 8.3.1 Lab Needs 297 8.3.2 Stimuli 298 8.3.2.1 Stimuli Generation 298 8.3.2.2 Stimuli Presentation 301 8.3.3 Observer Needs 302 8.3.3.1 Observer Selection and Screening 302 8.3.3.2 Experimental Design and Duration 303 8.4 Video Subjective Measurements 304 Summary of this Chapter 305 References 305 9 The Camera Benchmarking Process 309 9.1 Objective Metrics for Benchmarking 309 9.2 Subjective Methods for Benchmarking 311 9.2.1 Photospace 312 9.2.2 Use Cases 313 9.2.3 Observer Impact 314 9.3 Methods of Combining Metrics 315 9.3.1 Weighted Combinations 316 9.3.2 Minkowski Summation 316 9.4 Benchmarking Systems 317 9.4.1 GSMArena 317 9.4.2 FNAC 318 9.4.3 VCX 318 9.4.4 Skype Video Capture Specification 319 9.4.5 VIQET 320 9.4.6 DxOMark 321 9.4.7 IEEE P1858 323 9.5 Example Benchmark Results 324 9.5.1 VIQET 324 9.5.2 IEEE CPIQ 325 9.5.2.1 CPIQ Objective Metrics 327 9.5.2.2 CPIQ Quality Loss Predictions from Objective Metrics 337 9.5.3 DxOMark Mobile 338 9.5.4 Real-World Images 339 9.5.5 High-End DSLR Objective Metrics 339 9.6 Benchmarking Validation 345 Summary of this Chapter 348 References 349 10 Summary and Conclusions 353 References 357 Index 359

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