Technology, Engineering & Agriculture Books

Book SynopsisThis 2007 book discusses the design of reliable numerical methods to retrieve missing information in models of complex systems.Table of ContentsPreface; 1. Introduction; 2. Linear algebra; 3. Discrete-time signals and systems; 4. Random variables and signals; 5. Kalman filtering; 6. Estimation of spectra and frequency response functions; 7. Output-error parametric model estimation; 8. Prediction-error parametric model estimation; 9. Subspace model identification; 10. The system identification cycle; Notation and symbols; List of abbreviations; References; Index.

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Book SynopsisIntroduction to Aircraft Aeroelasticity and Loads, Second Edition is an updated new edition offering comprehensive coverage of the main principles of aircraft aeroelasticity and loads. For ease of reference, the book is divided into three parts and begins by reviewing the underlying disciplines of vibrations, aerodynamics, loads and control, and then goes on to describe simplified models to illustrate aeroelastic behaviour and aircraft response and loads for the flexible aircraft before introducing some more advanced methodologies. Finally, it explains how industrial certification requirements for aeroelasticity and loads may be met and relates these to the earlier theoretical approaches used. Key features of this new edition include: Uses a unified simple aeroelastic model throughout the book Major revisions to chapters on aeroelasticity Updates and reorganisation of chapters involving Finite Elements Some reorganisation of loadTrade Review“I strongly recommend this textbook to under­graduates and researchers, not only due to how principles and concepts are explained, but also because it clearly shows the multidisciplinary nature of modern engineering techniques.” (The Aeronautical Journal, 1 November 2015) Table of ContentsSeries Preface xxi Preface to the Second Edition xxiii Preface to the First Edition xxv Abbreviations xxix Introduction 1 PART I BACKGROUND MATERIAL 7 1 Vibration of Single Degree of Freedom Systems 9 1.1 Setting up Equations of Motion for SDoF Systems 9 1.2 Free Vibration of SDoF Systems 11 1.3 Forced Vibration of SDoF Systems 13 1.4 Harmonic Forced Vibration – Frequency Response Functions 14 1.5 Transient/Random Forced Vibration – Time Domain Solution 17 1.6 Transient Forced Vibration – Frequency Domain Solution 21 1.7 Random Forced Vibration – Frequency Domain Solution 23 1.8 Examples 24 2 Vibration of Multiple Degree of Freedom Systems 27 2.1 Setting up Equations of Motion 27 2.2 Undamped Free Vibration 29 2.3 Damped Free Vibration 31 2.4 Transformation to Modal Coordinates 34 2.5 Two-DoF Rigid Aircraft in Heave and Pitch 38 2.6 ‘Free–Free’ Systems 40 2.7 Harmonic Forced Vibration 41 2.8 Transient/Random Forced Vibration – Time Domain Solution 43 2.9 Transient Forced Vibration – Frequency Domain Solution 44 2.10 Random Forced Vibration – Frequency Domain Solution 44 2.11 Examples 45 3 Vibration of Continuous Systems – Assumed Shapes Approach 49 3.1 Continuous Systems 49 3.2 Modelling Continuous Systems 49 3.3 Elastic and Flexural Axes 51 3.4 Rayleigh–Ritz ‘Assumed Shapes’ Method 52 3.5 Generalized Equations of Motion – Basic Approach 53 3.6 Generalized Equations of Motion – Matrix Approach 58 3.7 Generating Whole Aircraft ‘Free–Free’ Modes from ‘Branch’ Modes 61 3.8 Whole Aircraft ‘Free–Free’ Modes 64 3.9 Examples 65 4 Introduction to Steady Aerodynamics 69 4.1 The Standard Atmosphere 69 4.2 Effect of Air Speed on Aerodynamic Characteristics 71 4.3 Flows and Pressures Around a Symmetric Aerofoil 73 4.4 Forces on an Aerofoil 74 4.5 Variation of Lift for an Aerofoil at an Angle of Incidence 76 4.6 Pitching Moment Variation and the Aerodynamic Centre 77 4.7 Lift on a Three-dimensional Wing 78 4.8 Drag on a Three-dimensional Wing 82 4.9 Control Surfaces 83 4.10 Transonic Flows 84 4.11 Examples 85 5 Introduction to Loads 87 5.1 Laws of Motion 88 5.2 D’Alembert’s Principle – Inertia Forces and Couples 90 5.3 External Loads – Applied and Reactive 94 5.4 Free Body Diagrams 95 5.5 Internal Loads 96 5.6 Internal Loads for a Continuous Member 96 5.7 Internal Loads for a Discretized Member 101 5.8 Intercomponent Loads 103 5.9 Obtaining Stresses from Internal Loads – Structural Members with Simple Load Paths 103 5.10 Examples 104 6 Introduction to Control 109 6.1 Open and Closed Loop Systems 109 6.2 Laplace Transforms 110 6.3 Modelling of Open and Closed Loop Systems using Laplace and Frequency Domains 112 6.4 Stability of Systems 114 6.5 PID Control 121 6.6 Examples 122 PART II INTRODUCTION TO AEROELASTICITY AND LOADS 123 7 Static Aeroelasticity – Effect of Wing Flexibility on Lift Distribution and Divergence 125 7.1 Static Aeroelastic Behaviour of a Two-dimensional Rigid Aerofoil with a Torsional Spring Attachment 126 7.2 Static Aeroelastic Behaviour of a Fixed Root Flexible Wing 130 7.3 Effect of Trim on Static Aeroelastic Behaviour 133 7.4 Effect of Wing Sweep on Static Aeroelastic Behaviour 137 7.5 Examples 142 8 Static Aeroelasticity – Effect of Wing Flexibility on Control Effectiveness 143 8.1 Rolling Effectiveness of a Flexible Wing – Fixed Wing Root Case 144 8.2 Rolling Effectiveness of a Flexible Wing – Steady Roll Case 147 8.3 Effect of Spanwise Position of the Control Surface 151 8.4 Full Aircraft Model – Control Effectiveness 152 8.5 Effect of Trim on Reversal Speed 153 8.6 Examples 153 9 Introduction to Unsteady Aerodynamics 155 9.1 Quasi-steady Aerodynamics 156 9.2 Unsteady Aerodynamics related to Motion 156 9.3 Aerodynamic Lift and Moment for an Aerofoil Oscillating Harmonically in Heave and Pitch 161 9.4 Oscillatory Aerodynamic Derivatives 162 9.5 Aerodynamic Damping and Stiffness 163 9.6 Approximation of Unsteady Aerodynamic Terms 164 9.7 Unsteady Aerodynamics related to Gusts 164 9.8 Examples 168 10 Dynamic Aeroelasticity – Flutter 171 10.1 Simplified Unsteady Aerodynamic Model 172 10.2 Binary Aeroelastic Model 173 10.3 General Form of the Aeroelastic Equations 176 10.4 Eigenvalue Solution of the Flutter Equations 176 10.5 Aeroelastic Behaviour of the Binary Model 177 10.6 Aeroelastic Behaviour of a Multiple Mode System 185 10.7 Flutter Speed Prediction for Binary Systems 185 10.8 Divergence of Dynamic Aeroelastic Systems 188 10.9 Inclusion of Unsteady Reduced Frequency Effects 189 10.10 Control Surface Flutter 193 10.11 Whole Aircraft Model – Inclusion of Rigid Body Modes 199 10.12 Flutter in the Transonic Regime 202 10.13 Effect of Non-Linearities – Limit Cycle Oscillations 202 10.14 Examples 204 11 Aeroservoelasticity 207 11.1 Mathematical Modelling of a Simple Aeroelastic System with a Control Surface 208 11.2 Inclusion of Gust Terms 209 11.3 Implementation of a Control System 210 11.4 Determination of Closed Loop System Stability 211 11.5 Gust Response of the Closed Loop System 213 11.6 Inclusion of Control Law Frequency Dependency in Stability Calculations 214 11.7 Response Determination via the Frequency Domain 215 11.8 State Space Modelling 216 11.9 Examples 217 12 Equilibrium Manoeuvres 219 12.1 Equilibrium Manoeuvre – Rigid Aircraft under Normal Acceleration 221 12.2 Manoeuvre Envelope 226 12.3 Equilibrium Manoeuvre – Rigid Aircraft Pitching 227 12.4 Equilibrium Manoeuvre – Flexible Aircraft Pitching 235 12.5 Representation of the Flight Control System (FCS) 250 12.6 Examples 250 13 Dynamic Manoeuvres 253 13.1 Aircraft Axes 255 13.2 Motion Variables 257 13.3 Axes Transformations 257 13.4 Velocity and Acceleration Components for Moving Axes in 2D 259 13.5 Flight Mechanics Equations of Motion for a Rigid Symmetric Aircraft in 2D 262 13.6 Representation of Disturbing Forces and Moments 265 13.7 Modelling the Flexible Aircraft 267 13.8 Solution of Flight Mechanics Equations for the Rigid Aircraft 272 13.9 Dynamic Manoeuvre – Rigid Aircraft in Longitudinal Motion 273 13.10 Dynamic Manoeuvre – Flexible Aircraft Heave/Pitch 279 13.11 General Form of Longitudinal Equations 287 13.12 Dynamic Manoeuvre for Rigid Aircraft in Lateral Motion 288 13.13 Bookcase Manoeuvres for Rigid Aircraft in Lateral Motion 289 13.14 Flight Control System (FCS) 293 13.15 Representation of the Flight Control System (FCS) 295 13.16 Examples 295 14 Gust and Turbulence Encounters 299 14.1 Gusts and Turbulence 300 14.2 Gust Response in the Time Domain 301 14.3 Time Domain Gust Response – Rigid Aircraft in Heave 303 14.4 Time Domain Gust Response – Rigid Aircraft in Heave/Pitch 310 14.5 Time Domain Gust Response – Flexible Aircraft 316 14.6 General Form of Equations in the Time Domain 321 14.7 Turbulence Response in the Frequency Domain 321 14.8 Frequency Domain Turbulence Response – Rigid Aircraft in Heave 324 14.9 Frequency Domain Turbulence Response – Rigid Aircraft in Heave/Pitch 329 14.10 Frequency Domain Turbulence Response – Flexible Aircraft 330 14.11 General Form of Equations in the Frequency Domain 333 14.12 Representation of the Flight Control System (FCS) 334 14.13 Examples 334 15 Ground Manoeuvres 337 15.1 Landing Gear 337 15.2 Taxi, Take-Off and Landing Roll 342 15.3 Landing 351 15.4 Braking 359 15.5 Turning 360 15.6 Shimmy 361 15.7 Representation of the Flight Control System (FCS) 363 15.8 Examples 363 16 Aircraft Internal Loads 367 16.1 Limit and Ultimate Loads 368 16.2 Internal Loads for an Aircraft 368 16.3 General Internal Loads Expressions – Continuous Wing 370 16.4 Effect of Wing-mounted Engines and Landing Gear 372 16.5 Internal Loads – Continuous Flexible Wing 373 16.6 General Internal Loads Expressions – Discretized Wing 379 16.7 Internal Loads – Discretized Fuselage 384 16.8 Internal Loads – Continuous Turbulence Encounter 387 16.9 Loads Generation and Sorting to yield Critical Cases 388 16.10 Aircraft Dimensioning Cases 390 16.11 Stresses derived from Internal Loads – Complex Load Paths 391 16.12 Examples 391 17 Vibration of Continuous Systems – Finite Element Approach 395 17.1 Introduction to the Finite Element Approach 395 17.2 Formulation of the Beam Bending Element 397 17.3 Assembly and Solution for a Beam Structure 401 17.4 Torsion Element 406 17.5 Combined Bending/Torsion Element 407 17.6 Concentrated Mass Element 408 17.7 Stiffness Element 408 17.8 Rigid Body Elements 409 17.9 Other Elements 410 17.10 Comments on Modelling 411 17.11 Examples 413 18 Potential Flow Aerodynamics 415 18.1 Components of Inviscid, Incompressible Flow Analysis 415 18.2 Inclusion of Vorticity 420 18.3 Numerical Steady Aerodynamic Modelling of Thin Two-dimensional Aerofoils 422 18.4 Steady Aerodynamic Modelling of Three-Dimensional Wings using a Panel Method 425 18.5 Unsteady Aerodynamic Modelling of Wings undergoing Harmonic Motion 429 18.6 Aerodynamic Influence Coefficients in Modal Space 432 18.7 Examples 436 19 Coupling of Structural and Aerodynamic Computational Models 437 19.1 Mathematical Modelling – Static Aeroelastic Case 438 19.2 2D Coupled Static Aeroelastic Model – Pitch 439 19.3 2D Coupled Static Aeroelastic Model – Heave/Pitch 440 19.4 3D Coupled Static Aeroelastic Model 441 19.5 Mathematical Modelling – Dynamic Aeroelastic Response 446 19.6 2D Coupled Dynamic Aeroelastic Model – Bending/Torsion 447 19.7 3D Flutter Analysis 448 19.8 Inclusion of Frequency Dependent Aerodynamics for State–Space Modelling – Rational Function Approximation 450 PART III INTRODUCTION TO INDUSTRIAL PRACTICE 455 20 Aircraft Design and Certification 457 20.1 Aeroelastics and Loads in the Aircraft Design Process 457 20.2 Aircraft Certification Process 459 21 Aeroelasticity and Loads Models 465 21.1 Structural Model 465 21.2 Aerodynamic Model 471 21.3 Flight Control System 473 21.4 Other Model Issues 474 21.5 Loads Transformations 474 22 Static Aeroelasticity and Flutter 475 22.1 Static Aeroelasticity 475 22.2 Flutter 478 23 Flight Manoeuvre and Gust/Turbulence Loads 481 23.1 Evaluation of Internal Loads 481 23.2 Equilibrium/Balanced Flight Manoeuvres 481 23.3 Dynamic Flight Manoeuvres 485 23.4 Gusts and Turbulence 489 24 Ground Manoeuvre Loads 495 24.1 Aircraft/Landing Gear Models for Ground Manoeuvres 495 24.2 Landing Gear/Airframe Interface 496 24.3 Ground Manoeuvres – Landing 496 24.4 Ground Manoeuvres – Ground Handling 497 24.5 Loads Processing 498 25 Testing Relevant to Aeroelasticity and Loads 501 25.1 Introduction 501 25.2 Wind Tunnel Tests 501 25.3 Ground Vibration Test 502 25.4 Structural Coupling Test 503 25.5 Flight Simulator Test 504 25.6 Structural Tests 504 25.7 Flight Flutter Test 505 25.8 Flight Loads Validation 507 Appendices 509 A Aircraft Rigid Body Modes 511 B Table of Longitudinal Aerodynamic Derivatives 513 C Aircraft Symmetric Flexible Modes 517 D Model Condensation 527 E Aerodynamic Derivatives in Body Fixed Axes 531 References 535 Index 539

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Book SynopsisWritten by a leading author on the subject, PID and Predictive Control of Electric Drives and Power Supplies using MATLAB / Simulink provides a timely introduction to current research on PID and predictive control.Table of ContentsAbout the Authors xiii Preface xv Acknowledgment xix List of Symbols and Acronyms xxi 1 Modeling of AC Drives and Power Converter 1 1.1 Space Phasor Representation 1 1.1.1 Space Vector for Magnetic Motive Force 1 1.1.2 Space Vector Representation of Voltage Equation 4 1.2 Model of Surface Mounted PMSM 5 1.2.1 Representation in Stationary Reference Frame 5 1.2.2 Representation in Synchronous Reference Frame 7 1.2.3 Electromagnetic Torque 8 1.3 Model of Interior Magnets PMSM 10 1.3.1 Complete Model of PMSM 11 1.4 Per Unit Model and PMSM Parameters 11 1.4.1 Per Unit Model and Physical Parameters 11 1.4.2 Experimental Validation of PMSM Model 12 1.5 Modeling of Induction Motor 13 1.5.1 Space Vector Representation of Voltage Equation of Induction Motor 13 1.5.2 Representation in Stationary Reference Frame 17 1.5.3 Representation in Reference Frame 17 1.5.4 Electromagnetic Torque of Induction Motor 19 1.5.5 Model Parameters of Induction Motor and Model Validation 19 1.6 Modeling of Power Converter 21 1.6.1 Space Vector Representation of Voltage Equation for Power Converter 22 1.6.2 Representation in Reference Frame 22 1.6.3 Representation in Reference Frame 23 1.6.4 Energy Balance Equation 24 1.7 Summary 25 1.8 Further Reading 25 References 25 2 Control of Semiconductor Switches via PWM Technologies 27 2.1 Topology of IGBT Inverter 28 2.2 Six-step Operating Mode 30 2.3 Carrier Based PWM 31 2.3.1 Sinusoidal PWM 31 2.3.2 Carrier Based PWM with Zero-sequence Injection 32 2.4 Space Vector PWM 35 2.5 Simulation Study of the Effect of PWM 37 2.6 Summary 40 2.7 Further Reading 40 References 40 3 PID Control System Design for Electrical Drives and Power Converters 41 3.1 Overview of PID Control Systems Using Pole-assignment Design Techniques 42 3.1.1 PI Controller Design 42 3.1.2 Selecting the Desired Closed-loop Performance 43 3.1.3 Overshoot in Reference Response 45 3.1.4 PID Controller Design 46 3.1.5 Cascade PID Control Systems 48 3.2 Overview of PID Control of PMSM 49 3.2.1 Bridging the Sensor Measurements to Feedback Signals (See the lower part of Figure 3.6) 50 3.2.2 Bridging the Control Signals to the Inputs to the PMSM (See the top part of Figure 3.6) 51 3.3 PI Controller Design for Torque Control of PMSM 52 3.3.1 Set-point Signals to the Current Control Loops 52 3.3.2 Decoupling of the Current Control Systems 53 3.3.3 PI Current Controller Design 54 3.4 Velocity Control of PMSM 55 3.4.1 Inner-loop Proportional Control of q-axis Current 55 3.4.2 Cascade Feedback Control of Velocity:P Plus PI 57 3.4.3 Simulation Example for P Plus PI Control System 59 3.4.4 Cascade Feedback Control of Velocity:PI Plus PI 61 3.4.5 Simulation Example for PI Plus PI Control System 63 3.5 PID Controller Design for Position Control of PMSM 64 3.6 Overview of PID Control of Induction Motor 65 3.6.1 Bridging the Sensor Measurements to Feedback Signals 67 3.6.2 Bridging the Control Signals to the Inputs to the Induction Motor 67 3.7 PID Controller Design for Induction Motor 68 3.7.1 PI Control of Electromagnetic Torque of Induction Motor 68 3.7.2 Cascade Control of Velocity and Position 70 3.7.3 Slip Estimation 73 3.8 Overview of PID Control of Power Converter 74 3.8.1 Bridging Sensor Measurements to Feedback Signals 75 3.8.2 Bridging the Control Signals to the Inputs of the Power Converter 76 3.9 PI Current and Voltage Controller Design for Power Converter 76 3.9.1 P Control of d-axis Current 76 3.9.2 PI Control of q-axis Current 77 3.9.3 PI Cascade Control of Output Voltage 79 3.9.4 Simulation Example 80 3.9.5 Phase Locked Loop 80 3.10 Summary 82 3.11 Further Reading 83 References 83 4 PID Control System Implementation 87 4.1 P and PI Controller Implementation in Current Control Systems 87 4.1.1 Voltage Operational Limits in Current Control Systems 87 4.1.2 Discretization of Current Controllers 90 4.1.3 Anti-windup Mechanisms 92 4.2 Implementation of Current Controllers for PMSM 93 4.3 Implementation of Current Controllers for Induction Motors 95 4.4 Current Controller Implementation for Power Converter 97 4.4.1 Constraints on the Control Variables 97 4.5 Implementation of Outer-loop PI Control System 98 4.5.1 Constraints in the Outer-loop 98 4.5.2 Over Current Protection for AC Machines 99 4.5.3 Implementation of Outer-loop PI Control of Velocity 100 4.5.4 Over Current Protection for Power Converters 100 4.6 MATLAB Tutorial on Implementation of PI Controller 100 4.7 Summary 102 4.8 Further Reading 103 References 103 5 Tuning PID Control Systems with Experimental Validations 105 5.1 Sensitivity Functions in Feedback Control Systems 105 5.1.1 Two-degrees of Freedom Control System Structure 105 5.1.2 Sensitivity Functions 109 5.1.3 Disturbance Rejection and Noise Attenuation 110 5.2 Tuning Current-loop q-axis Proportional Controller (PMSM) 111 5.2.1 Performance Factor and Proportional Gain 112 5.2.2 Complementary Sensitivity Function 112 5.2.3 Sensitivity and Input Sensitivity Functions 114 5.2.4 Effect of PWM Noise on Current Proportional Control System 114 5.2.5 Effect of Current Sensor Noise and Bias 116 5.2.6 Experimental Case Study of Current Sensor Bias Using P Control 118 5.2.7 Experimental Case Study of Current Loop Noise 119 5.3 Tuning Current-loop PI Controller (PMSM) 123 5.4 Performance Robustness in Outer-loop Controllers 128 5.4.1 Sensitivity Functions for Outer-loop Control System 131 5.4.2 Input Sensitivity Functions for the Outer-loop System 135 5.5 Analysis of Time-delay Effects 136 5.5.1 PI Control of q-axis Current 137 5.5.2 P Control of q-axis Current 137 5.6 Tuning Cascade PI Control Systems for Induction Motor 138 5.6.1 Robustness of Cascade PI Control System 140 5.6.2 Robustness Study Using Nyquist Plot 143 5.7 Tuning PI Control Systems for Power Converter 147 5.7.1 Overview of the Designs 147 5.7.2 Tuning the Current Controllers 149 5.7.3 Tuning Voltage Controller 150 5.7.4 Experimental Evaluations 154 5.8 Tuning P Plus PI Controllers for Power Converter 157 5.8.1 Design and Sensitivity Functions 157 5.8.2 Experimental Results 158 5.9 Robustness of Power Converter Control System Using PI Current Controllers 159 5.9.1 Variation of Inductance Using PI Current Controllers 160 5.9.2 Variation of Capacitance on Closed-loop Performance 163 5.10 Summary 167 5.10.1 Current Controllers 167 5.10.2 Velocity, Position and Voltage Controllers 168 5.10.3 Choice between P Current Control and PI Current Control 169 5.11 Further Reading 169 References 169 6 FCS Predictive Control in d − q Reference Frame 171 6.1 States of IGBT Inverter and the Operational Constraints 172 6.2 FCS Predictive Control of PMSM 175 6.3 MATLAB Tutorial on Real-time Implementation of FCS-MPC 177 6.3.1 Simulation Results 179 6.3.2 Experimental Results of FCS Control 181 6.4 Analysis of FCS-MPC System 182 6.4.1 Optimal Control System 182 6.4.2 Feedback Controller Gain 184 6.4.3 Constrained Optimal Control 185 6.5 Overview of FCS-MPC with Integral Action 187 6.6 Derivation of I-FCS Predictive Control Algorithm 191 6.6.1 Optimal Control without Constraints 191 6.6.2 I-FCS Predictive Controller with Constraints 194 6.6.3 Implementation of I-FCS-MPC Algorithm 196 6.7 MATLAB Tutorial on Implementation of I-FCS Predictive Controller 197 6.7.1 Simulation Results 198 6.8 I-FCS Predictive Control of Induction Motor 201 6.8.1 The Control Algorithm for an Induction Motor 202 6.8.2 Simulation Results 204 6.8.3 Experimental Results 205 6.9 I-FCS Predictive Control of Power Converter 209 6.9.1 I-FCS Predictive Control of a Power Converter 209 6.9.2 Simulation Results 211 6.9.3 Experimental Results 214 6.10 Evaluation of Robustness of I-FCS-MPC via Monte-Carlo Simulations 215 6.10.1 Discussion on Mean Square Errors 216 6.11 Velocity and Position Control of PMSM Using I-FCS-MPC 218 6.11.1 Choice of Sampling Rate for the Outer-loop Control System 219 6.11.2 Velocity and Position Controller Design 223 6.12 Velocity and Position Control of Induction Motor Using I-FCS-MPC 224 6.12.1 I-FCS Cascade Velocity Control of Induction Motor 225 6.12.2 I-FCS-MPC Cascade Position Control of Induction Motor 226 6.12.3 Experimental Evaluation of Velocity Control 228 6.13 Summary 232 6.13.1 Selection of sampling interval 233 6.13.2 Selection of the Integral Gain 233 6.14 Further Reading 234 References 234 7 FCS Predictive Control in Reference Frame 237 7.1 FCS Predictive Current Control of PMSM 237 7.1.1 Predictive Control Using One-step-ahead Prediction 238 7.1.2 FCS Current Control in Reference Frame 239 7.1.3 Generating Current Reference Signals in Frame 240 7.2 Resonant FCS Predictive Current Control 241 7.2.1 Control System Configuration 241 7.2.2 Outer-loop Controller Design 242 7.2.3 Resonant FCS Predictive Control System 243 7.3 Resonant FCS Current Control of Induction Motor 247 7.3.1 The Original FCS Current Control of Induction Motor 247 7.3.2 Resonant FCS Predictive Current Control of Induction Motor 250 7.3.3 Experimental Evaluations of Resonant FCS Predictive Control 252 7.4 Resonant FCS Predictive Power Converter Control 255 7.4.1 FCS Predictive Current Control of Power Converter 255 7.4.2 Experimental Results of Resonant FCS Predictive Control 260 7.5 Summary 261 7.6 Further Reading 262 References 262 8 Discrete-time Model Predictive Control (DMPC) of Electrical Drives and Power Converter 265 8.1 Linear Discrete-time Model for PMSM 266 8.1.1 Linear Model for PMSM 266 8.1.2 Discretization of the Continuous-time Model 267 8.2 Discrete-time MPC Design with Constraints 268 8.2.1 Augmented Model 269 8.2.2 Design without Constraints 270 8.2.3 Formulation of the Constraints 272 8.2.4 On-line Solution for Constrained MPC 272 8.3 Experimental Evaluation of DMPC of PMSM 274 8.3.1 The MPC Parameters 274 8.3.2 Constraints 275 8.3.3 Response to Load Disturbances 275 8.3.4 Response to a Staircase Reference 277 8.3.5 Tuning of the MPC controller 278 8.4 Power Converter Control Using DMPC with Experimental Validation 280 8.5 Summary 281 8.6 Further Reading 282 References 283 9 Continuous-time Model Predictive Control (CMPC) of Electrical Drives and PowerConverter 285 9.1 Continuous-time MPC Design 286 9.1.1 Augmented Model 286 9.1.2 Description of the Control Trajectories Using Laguerre Functions 287 9.1.3 Continuous-time Predictive Control without Constraints 289 9.1.4 Tuning of CMPC Control System Using Exponential Data Weighting and Prescribed Degree of Stability 292 9.2 CMPC with Nonlinear Constraints 294 9.2.1 Approximation of Nonlinear Constraint Using Four Linear Constraints 294 9.2.2 Approximation of Nonlinear Constraint Using Sixteen Linear Constraints 294 9.2.3 State Feedback Observer 297 9.3 Simulation and Experimental Evaluation of CMPC of Induction Motor 298 9.3.1 Simulation Results 298 9.3.2 Experimental Results 300 9.4 Continuous-time Model Predictive Control of Power Converter 301 9.4.1 Use of Prescribed Degree of Stability in the Design 302 9.4.2 Experimental Results for Rectification Mode 303 9.4.3 Experimental Results for Regeneration Mode 303 9.4.4 Experimental Results for Disturbance Rejection 304 9.5 Gain Scheduled Predictive Controller 305 9.5.1 The Weighting Parameters 305 9.5.2 Gain Scheduled Predictive Control Law 307 9.6 Experimental Results of Gain Scheduled Predictive Control of Induction Motor 309 9.6.1 The First Set of Experimental Results 309 9.6.2 The Second Set of Experimental Results 311 9.6.3 The Third Set of Experimental Results 312 9.7 Summary 312 9.8 Further Reading 313 References 313 10 MATLAB®/Simulink® Tutorials on Physical Modeling and Test-bed Setup 315 10.1 Building Embedded Functions for Park-Clarke Transformation 315 10.1.1 Park-Clarke Transformation for Current Measurements 316 10.1.2 Inverse Park-Clarke Transformation for Voltage Actuation 317 10.2 Building Simulation Model for PMSM 318 10.3 Building Simulation Model for Induction Motor 320 10.4 Building Simulation Model for Power Converter 325 10.4.1 Embedded MATLAB Function for Phase Locked Loop (PLL) 325 10.4.2 Physical Simulation Model for Grid Connected Voltage Source Converter 328 10.5 PMSM Experimental Setup 332 10.6 Induction Motor Experimental Setup 334 10.6.1 Controller 334 10.6.2 Power Supply 334 10.6.3 Inverter 335 10.6.4 Mechanical Load 335 10.6.5 Induction Motor and Sensors 335 10.7 Grid Connected Power Converter Experimental Setup 335 10.7.1 Controller 335 10.7.2 Inverter 336 10.7.3 Sensors 336 10.8 Summary 337 10.9 Further Reading 337 References 337 Index 339

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Book SynopsisLearn to create plated desserts like a master, with recipes from the World and National Pastry Team Championships Considered the Olympics of the pastry arts, the World and National Pastry Championships were founded by Michael Schneider in 1999.Table of ContentsIntroduction 1 Recommended Equipment 4 Ingredients 8 Plating For Points 20 Plated Dessert Flavor Pairing Guide 26 The Recipes 35 Basic Garnish Recipes 308 Sources 310 Acknowledgments 313 Index 314

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Book SynopsisThis full-color introduction to agronomy and crop science offers both traditional agricultural students and students with nonagricultural backgrounds a timely look at the principles of crop science, sustainable agriculture, and a host of related societal issues. A must-read text for anyone interested in what are arguably the most profoundly important issues of our time, INTRODUCTION TO AGRONOMY, second edition addresses the basics of safe and sustainable food and fiber production as well as big picture topics such as energy, ecology, and environmental quality. Throughout the text, readers will find information and illustrations on the latest agricultural methods, regulations, and practices--and how each is impacting our society and each individual within it.Trade Review1. History of Agriculture. 2. Agriculture Today. 3. Feeding the World. 4. Classifying and Naming Crops. 5. Food and Energy from Plants. 6. Chemistry of Food and Plants. 7. Plant Anatomy and Morphology. 8. Plant Physiology and Growth. 9. Improving Plants. 10. Environment. 11. Agroecosystems. 12. Soils. 13. Cropping Systems. 14. Tillage and Crop Establishment. 15. Weeds. 16. Plant Disease and Insects. 17. Harvesting. 18. Organic Agriculture. 19. Crop Profiles: Grasses. 20. Crop Profiles: Legumes. 21. Crop Profiles: Other Crops. Appendix I: Scientific and Common Names. Appendix II: Metric Conversion Chart. Appendix III: Bushel Weights. Glossary. Index.Table of Contents1. History of Agriculture. 2. Agriculture Today. 3. Feeding the World. 4. Classifying and Naming Crops. 5. Food and Energy from Plants. 6. Chemistry of Food and Plants. 7. Plant Anatomy and Morphology. 8. Plant Physiology and Growth. 9. Improving Plants. 10. Environment. 11. Agroecosystems. 12. Soils. 13. Cropping Systems. 14. Tillage and Crop Establishment. 15. Weeds. 16. Plant Disease and Insects. 17. Harvesting. 18. Organic Agriculture. 19. Crop Profiles: Grasses. 20. Crop Profiles: Legumes. 21. Crop Profiles: Other Crops. Appendix I: Scientific and Common Names. Appendix II: Metric Conversion Chart. Appendix III: Bushel Weights. Glossary. Index.

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Book SynopsisJohn Hedley Brooke offers an introduction and critical guide to one of the most fascinating and enduring issues in the development of the modern world: the relationship between scientific thought and religious belief. Brooke stands back from general theses affirming 'conflict' or harmony'.Trade Review'[John Hedley Brooke] has given us a brilliant, perceptive, subtle, nuanced analysis, which will permanently alter the way scholars and the informed lay public view the relations of science and religion.' David C. Lindberg, Metascience'… arguably the most important historical analysis of science and religion since Andrew Dickson White's History of the Warfare of Science and Theology in Christendom (1898).' Ronald L. Numbers, MetascienceTable of ContentsAcknowledgments; Introduction; 1. Interaction between science and religion: some preliminary considerations; 2. Science and religion in the scientific revolution; 3. The parallel between scientific and religious reform; 4. Divine activity in a mechanical universe; 5. Science and religion in the enlightenment; 6. The fortunes and functions of natural theology; 7. Visions of the past: religious belief and the historical sciences; 8. Evolutionary theory and religious belief; Postscript: science and religion in the twentieth century; Bibliographic essay; Sources of quotations; Index.

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Book SynopsisFeaturing the most iconic plane of the Second World War, the legendary Spitfire, this wall calendar also offers glimpses of the heroic pilots, and Duxford's restored Spitfire Mk Ia N3200. Informative text accompanies each work and the datepad features previous and next month's views. Printed on FSC-certified paper, with plastic-free packaging.

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Book SynopsisThis text offers an understanding of the nature of scientific, mathematical and engineering practice, and the production of scientific knowledge. The author presents an approach to the unpredictable nature of change in science, taking into account a number of factors.

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Book SynopsisBoeing was once a symbol of engineering excellence, a company driven by the innovation and precision of its engineers. However, in the late 20th century, a shift in prioritiesâfocusing on shareholder returns over passenger safetyâmarked a turning point that culminated in the tragic crashes of two 737 MAX aircraft and the global grounding of the fleet.This title explores how the pursuit of profit compromised safety principles, neglected human factors, and led to critical design failures that no one at Boeing had a complete view of. It examines the specifics of the Boeing crisis and looks at it in a broader industrial and economic context. The book draws from the author's extensive research on other global industrial accidents, such as the Deepwater Horizon disaster, and highlights the dangers of profit-first decision-making, the necessity of robust safety systems, and the need for legal systems to respond effectively to corporate malfeasance. It demonstrates how the failure to treat safety as a top priority can have massive reputational damage in the airline industry. Written in an accessible style, this book brings clarity to complex issues and readers will gain practicable insights into how companies, regulators, and stakeholders can better manage the risks of catastrophic failures.Boeing, the 737 MAX Crisis and Aviation Safety: The Perils of Profit-Driven Engineering is an essential read for professionals in the fields of human factors, safety, aeronautical/aerospace engineering, the law and corporate governance.

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Book SynopsisA New York Times Book Review Notable Book of the Year A Washington Post Best Book of the Year A Businessweek Best Business Book of the Year A Chicago Tribune Best Book of the Year In this brilliant, essential book, Pulitzer Prize-winning author Thomas L. Friedman speaks to America's urgent need for national renewal and explains how a green revolution can bring about both a sustainable environment and a sustainable America. Friedman explains how global warming, rapidly growing populations, and the expansion of the world's middle class through globalization have produced a dangerously unstable planet--one that is hot, flat, and crowded. In this Release 2.0 edition, he also shows how the very habits that led us to ravage the natural world led to the meltdown of the financial markets and the Great Recession. The challenge of a sustainable way of life presents the United States with an opportunity not onl

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Book SynopsisCivil engineering produces the structures of all human settlements worldwide and is a vital discipline for many aspects modern life, underlying housing, transport, and our major areas and buildings related to work, study, and leisure.In this Very Short Introduction, David Muir Wood demonstrates the nature and importance of civil engineering not only in the history of civilization and urbanization, but its range of facets today, and its challenges for the future. Beginning with the challenge of creating a settlement on a deserted island, which sets out the problems that civil engineers need to solve, he looks at the social and environmental considerations as well as the science, technology, and craft of building bridges, tunnels, houses, and areas of recreation.He highlights the lives of some major civil engineers, including Brunel and Bazalgette, considers the challenges of managing water and energy, and looks at our increasing sensitivity to building and the environment. ABOUT THE SERIES: The Very Short Introductions series from Oxford University Press contains hundreds of titles in almost every subject area. These pocket-sized books are the perfect way to get ahead in a new subject quickly. Our expert authors combine facts, analysis, perspective, new ideas, and enthusiasm to make interesting and challenging topics highly readable.Table of Contents1. Civil engineering ; 2. Materials of civil engineering ; 3. Water and waste ; 4. 'Directing the great sources of power in nature' ; 5. Concept - technology - realisation ; 6. Robustness ; 7. The future ; Further reading

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Book SynopsisDance Music Manual â a comprehensive guidebook for novice and seasoned professionals alike â walks readers through the tools and techniques required to create original, captivating and professional-sounding electronic dance music.Key features of the Dance Music Manual include the following: Learn to navigate the complex world of electronic music production. Unleash your creativity with practical advice, insider tips and expert techniques. Explore the intricacies of crafting infectious grooves and sculpting sounds. From beginner to expert, this comprehensive guide illuminates every aspect of producing, mixing and mastering dance music. Used by professionals worldwide, this updated fifth edition has been significantly rewritten and includes new content on building your studio, processing, sampling, sound design and a chapter on DJ techniques. A companion website supports the book by providing audio and video examples of the techniques.

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Book SynopsisThe know-how you need to become a pro drone pilot and market your skill Licensed and skilled drone pilots are in huge demand. Drone Piloting For Dummies teaches you how to make a career out of it. From real estate to construction to inspection to mapping to delivery, the need for drone photography and videography is everywhere. This book outlines the basics of selecting and operating a drone, shows you how to get licensed, and explains all the regulations you need to know. You'll also learn to read charts and capture high-quality photos and videos. Plus, this guide walks you through the process of turning this skill into a full-time career or profitable side hustle. Written by a licensed drone pilot and entrepreneur, Drone Piloting For Dummies helps you take off on your new adventure! Grasp flying basics and care for your dronePrep for certification and learn the regulationsRefine your photography and videography skillsMarket your skills and discover cool career opportunities This book is for anyone who wants to become a drone pilot or increase their piloting skills for job readiness and performance.

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Book Synopsis"Rich and readable...personal, witty and ironic." --Scientific American

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Book SynopsisLooking to tackle climate change and climate science in your classroom? This timely and insightful book supports secondary science teachers in developing effective curricula around the Next Generation Science Standards (NGSS) by grounding their instruction on the climate crisis. This new edition focuses on meeting teachers where they are in their teaching and learning while tending to various contexts, communities, and cultures to activate educators in understanding and responding to the climate crisis in this moment. Chapters offer design and implementation support for 21st-century learning experiences centered around the climate emergency for meaningful engagement. Dr. Lê provides an overview of the teaching shifts needed for the NGSS using climate change as the vehicle of instruction. She also supports climate literacy for students and teachers via urgent topics in climate science and environmental justice. Teachers will also learn how to engage with the complexities of cl

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Book Synopsis The keys to the professional cooking technique, this book, a bestseller among the French chef community for 25 years, has revolutionized the learning of cooking and the culinary arts by offering unparalleled iconographic richness and selecting techniques for beginners for the best results The acclaimed La Cuisine de Référence is now available in its international English version: The French Chef Handbook. Own the keys of the French culinary technique! A study trip to France without the plane ticket. This bestseller, which has already supported over 800,000 professional chefs, can now be adopted by English speakers. Get ready to access the next cooking level with the complete content of 500 techniques, 1,000 recipe worksheets, more than 3,000 photo,s and a wide panel of 118 videos accessible by QR codes or URL to facilitate understanding. The French Chef Handbook/La Cuisine de Référence is a must have!

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Book SynopsisTaking a balanced look at issues that have contributed to decline of America's manned space program, such as lack of political support and funding, this book offers not only a critique but also a plan for enhancing US space security through cooperation rather than competition. It focuses on how policy changes of mid-1990s have changed the nation.Trade ReviewAny discussion of space policy would benefit from the informed, reasoned opinions of Joan Johnson-Freese. -- Eve Lichtgarn The Space ReviewTable of ContentsPreface Acknowledgments 1. A Clash of Ambitions 2. The Conundrum of Dual-Use Technology 3. From Apollo to Where? 4. The Militarization of Space 5. The Weaponization of Space 6. The Politicization of the U.S. Aerospace Industry 7. The Ambitions of Europe 8. The Ambitions of China 9. Avoiding a Clash of Ambitions: Toward a Comprehensive U.S. Space Strategy Notes Index

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Book SynopsisModeling, analysis, and simulationâeverything vibration engineering students need to succeed, including late-breaking advances in this ever-changing fieldAdvanced Mechanical Vibration covers modeling and analysis of vibrating systems with damping and gyroscopic effects, dynamics of combined distributed-lumped systems, and approximate methods for solutions of complex vibration problems, which are often overlooked in other such textbooks. Case studies and pre-coded MATLAB toolboxes for vibration analysis and simulation help readers understand and retain the most important concepts.This is an ideal text for an upper undergraduate or graduate course in vibration engineering. Includes both analytical and numerical methods for vibration analysis Addresses the latest developments in this fast-changing field Prepares the student and professional for advanced R&D Includes chapter-ending questions with faculty-only answe

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Book SynopsisFind out ALL ABOUT space in this fun-filled fact book for kids aged 7+.

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Book SynopsisDiscover the world of 3D Modeling and animation with Autodesk 3ds Max 2025 Basics Guide, a comprehensive and user-friendly guide designed for beginners and professionals alike. Authored by renowned 3D artist Kelly L. Murdock, this essential handbook incorporates an array of easy-to-follow tutorials, covering everything from interface navigation to advanced lighting techniques.Whether you're a complete novice or a seasoned professional looking to expand your skills, this guide will help you develop the knowledge and confidence necessary to create stunning 3D models, animations, and renderings. With meticulously organized chapters, each focusing on a specific skill set, you'll be smoothly guided through the entire process, from exploring the interface to simulating physics-based motion and working with hair and cloth.Autodesk 3ds Max 2025 Basics Guide begins by introducing you to the user interface and scene navigation, then delves into object manipulation, 3D asset modeling, material application, camera and lighting techniques, rendering, animation, character creation, special effects, and dynamic animation systems.As both a beginner's guide and a reference for experienced users, this invaluable resource offers expert advice from popular author Kelly Murdock. The book begins with a âgetting started' section for instant immersion, and contains countless tips and timesavers throughout. Learn how to harness the power of Autodesk 3ds Max, one of the most popular 3D modeling, animation, rendering, and compositing softwares used by game developers and graphic designers in the film and television industry. Unlock your creative potential and start creating breathtaking 3D animations with the Autodesk 3ds Max 2025 Basics Guide.What You'll Learn Get started navigating the user interface, Viewports and working with files Explore 3D modeling and how to apply materials and textures Learn how to reference, select, clone, group, link and transform objects Set impressive scenes with backgrounds, cameras and lighting Master intelligent techniques for rendering, compositing and animating Create characters, add special effects, and finish with dynamic animations such as hair and cloth Get comfortable with key tools such as Track View, Arnold, Quicksilver, Space Warps and more Discover all the new features and changes in 3ds Max 2025 Training VideosThe text is complemented by an expansive collection of video tutorials. Every chapter comes with a series of matching video presentations that act as a live counterpart to the written lessons. These presentations provide you with a firsthand view of the topics, capturing the subtitle nuances that words alone might miss.

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Book SynopsisThe book covers over 100 years of tractor development and features more than 100 different tractors. The first steam engines on wheels which used belts to drive farm machinery developed into traction engines, used on farms by pulling a plough on cables between two engines. In the 20th century, stationary internal combustion engines, such as the Clutterbuck, began to be put on wheels and moved around a farm to drive threshing machines by belt. Dozens of small companies grew up around the world following their own lines of development. Most lasted only a short time. Firms like Allis-Chalmers, Benz, Lloyd, Jelbart, Glasgow, Fordson, Bates and Hart-Parr are famous names which have faded away or been taken over. A few companies, such as Case and Massey, started in the middle of the 19th century and continue today on a global scale. John Deere started making ploughs in 1837 and is now the largest manufacturer in the world. Some developments have caused a giant leap forwar

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Book SynopsisVirtually every American woman has a charm or two tucked away somewhere or has inherited a charm bracelet from a relative. Charm collecting has grown into a competitive and popular pastime with an international following. Consider the evidence - eBay lists over 20,000 vintage charms and bracelets daily, and prices for older pieces continue to escalate. This is a much-needed, comprehensive and entertaining guide to charms and charm bracelets, profusely illustrated with over 300 color photographs. It shows the wide variety of styles ranging from gold to plastic and from the 19th century to the present. Readers will learn to date and determine the value of charms and appreciate their history and uses over the years. Collectors, dealers, jewelry and fashion historians, and appraisers will enjoy the many beautiful examples. This new book is a great help for jewelry collectors everywhere.

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Book SynopsisIn a world of increasing variability and complexity, companies seem to persist in using outdated and inadequate organizational models and work patterns. Despite the available technologies and the most innovative time management techniques, we work more and more, with less results and more stress. Lean Lifestyle Strategy addresses the key problem of every professional, manager, and entrepreneur leading companies of all sizes: how to combine the need to produce more and more results, in less and less time, working better, and leading, at the same time, a lifestyle that generates prosperity and well-being. The time is ripe for lean work to become a strategy to achieve a true workâlife balance and express the best of people in the company without having to choose between operational efficiency or personal fulfilment. In this book, in addition to numerous examples, tools, and step-by-step methodologies, useful to begin to apply independently the principles of the Lea

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Book SynopsisScan your own codes to save money, fix problems, or get the best performance out of your ride!

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Book SynopsisProfusely illustrated throughout, a worthy addition to the Veloce Pictorial History series. Each BMW model (1945-2013) has been painstakingly researched detailing body derivatives, production changes, technical information and hundreds of period photos and diagrams, plus how the ever-changing advertising was used to promote each model.

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Book Synopsis'A fascinating exploration of human greed and self-delusion and also a tribute to our ageless search for beauty' DEBORAH MOGGACH.Trade Review[Dash] has the storyteller's knack of making his readers feel present in the sweaty, smoke-filled taverns of Haalem ... a shining tribute to this extraordinary flower * TIMES LITERARY SUPPLEMENT *A marvellous parable of greed, skulduggery, opulence, extravagance and retribution -- Simon SinghA fascinating exploration of human greed and self-delusion and also a tribute to our ageless search for beauty -- Deborah MoggachDetailed and highly readable * DAILY TELEGRAPH *An enthusiastic historian's view of the subject with lots of colourful detail -- Jan Morris, Books of the Year * INDEPENDENT *I can't remember the last time I read a plant book or a gardening book that was such a page-turner. The story is a gift, of course - but the grip lies in the telling ... Such is the artistry of the writing that you will mop it all up, sponge like, and absorb it as you pursue the twists and turns of the story * HORTUS *A fine chapter of social history - enticing, splendidly written and informative * KIRKUS *Gripping ... a happy weight of detail * GUARDIAN *The fast-paced text brings to life the excitement caused in Europe by the introduction of this exotic flower from the East * BBC GARDENERS' WORLD *

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Book SynopsisTrade ReviewIf you have a spare few minutes, check out the review of our book Italian Partisan Weapons in WWII by the YouTube account Forgotten Weapons.

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Book SynopsisCovers training, transport deployment and a month by month fight account of the wars with Jugdtiger.

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Book SynopsisThis hardworking addition to the best-selling Backyard Homestead series offers expert advice on what tasks to do around your farm and when to do them — no matter where on the planet you call home. Author Ann Larkin Hansen sets the priorities for each area of the farm, including the barn, garden, orchard, field, pasture, and woodlot. For every critical turn of the year (12 in all), Hansen provides an at-a-glance to-do list along with tips and a more in-depth discussion of key topics for the season. Easy-reference charts, checklists, and record-keeping sections help you keep track of it all. Also available in this series: The Backyard Homestead, The Backyard Homestead Book of Building Projects, The Backyard Homestead Guide to Raising Farm Animals, and The Backyard Homestead Book of Kitchen Know-How.

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Book SynopsisTreating both integral and differential equation formulations in a unified manner, this book should be a useful reference for graduate use or self-study. Its primary focus is on open-region formulations, and the majority of the material is presented in the context of electromagnetic scattering.Table of ContentsPreface. Acknowledgments. Electromagnetic Theory. Integral Equation Methods for Scattering from Infinite Cylinders. Differential Equation Methods for Scattering from Infinite Cylinders. Algorithms for the Solution of Linear Systems of Equations. The Discretization Process. Basis/Testing Functions and Convergence. Alternative Surface Integral Equation Formulations. Strip Gratings and Other Two-Dimensional Structures with One-Dimensional Periodicity. Three-Dimensional problems with Translational or Rotational Symmetry. Subsectional Basis Functions for MultiDimensional and Vector Problems. Integral Equation Methods for Three-Dimensional Bodies. Frequency-Domain Differential Equation Formulations for Open Three-Dimensional Problems. Finite-Difference Time-Domain Methods on Orthogonal Meshes. Appendix A: Quadrature. Appendix B: Source-Field Relationships for Cylinders Illuminated by an Obliquely Incident Field. Appendix C: Fortran Codes for TM Scattering From Perfect Electric Conducting Cylinders. Appendix D: Additional Software Available Via the Internet. Index. About the Authors.

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Book SynopsisA handy, splash-proof, on-the-water aide memoire of everything the skipper and crew need to know – or find out quickly – when cruising: from lights, shapes and sound signals to knots, ropes and engine troubleshooting. With diagrams and illustrations throughout, this quick reference guide will help to keep you safe when out at sea.Trade Review"A very handy pocket reference booklet… deserves a place on any cruiser's bookshelf." (Yachting Monthly) "An excellent quick reference." (Sailing Magazine) "Not only a perfect companion for the cockpit, it would be a great booklet for anyone undertaking an RYA theory course." (Motorboat Owner)Table of Contents2 Getting Ready For Sea 3 Rules Of The Road 6 Lights 10 Shapes 11 Sound Signals 12 Buoyage 14 Flags 16 Knots 17 Ropes 18 Tides 20 Engine Troubleshooting 22 Safety 23 Distress Calls 24 Beaufort Wind Scale

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