Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.

/pdf/robot-modeling-and-control-2n3memrp6g.pdf

Robot Modeling and Control

From the Publisher:
A key aspect of the book is the frequent use of real world design examples drawn directly from the authors' industrial experience. These are represented by over 15 substantial case studies ranging from distillation columns to satellite tracking. The book is also liberally supported by modern teaching aids available on both an accompanying CD-ROM and Companion Website. Resources to be found there include MATLAB® routines for all examples; extensive PowerPoint lecture notes based on the book; and a totally unique Java Applet-driven "virtual laboratory" that allows readers to interact with the real-world case studies.

Control System Design

Schumpeter’s canonical depiction of the entrepreneur as an agent of social and economic change implies that entrepreneurs are especially sensitive to the social environment. We use an organizing framework based on institutional economics, in combination with lessons from cross-cultural psychology, to consider the social dimensions of entrepreneurship. The level and modes of entrepreneurial activity are affected by the surrounding culture and by legal rules. Entrepreneurs may partially overcome institutional deficiencies by relying on social networks that facilitate reputational bonding as a means for resource-sharing.

https://papers.ssrn.com/sol3/Delivery.cfm?abstractid=824844

The Social Dimensions of Entrepreneurship

Connectivity among populations and habitats is important for a wide range of ecological processes. Understanding, preserving, and restoring connectivity in complex landscapes requires connectivity models and metrics that are reliable, efficient, and process based. We introduce a new class of ecological connectivity models based in electrical circuit theory. Although they have been applied in other disciplines, circuit-theoretic connectivity models are new to ecology. They offer distinct advantages over common analytic connectivity models, including a theoretical basis in random walk theory and an ability to evaluate contributions of multiple dispersal pathways. Resistance, current, and voltage calculated across graphs or raster grids can be related to ecological processes (such as individual movement and gene flow) that occur across large population networks or landscapes. Efficient algorithms can quickly solve networks with millions of nodes, or landscapes with millions of raster cells. Here we review basic circuit theory, discuss relationships between circuit and random walk theories, and describe applications in ecology, evolution, and conservation. We provide examples of how circuit models can be used to predict movement patterns and fates of random walkers in complex landscapes and to identify important habitat patches and movement corridors for conservation planning.

https://www.jstor.org/stable/pdfplus/27650817.pdf

Using circuit theory to model connectivity in ecology, evolution, and conservation.

Mobile ad hoc networks (MANETs) represent complex distributed systems that comprise wireless mobile nodes that can freely and dynamically self-organize into arbitrary and temporary, ‘‘ad-hoc’’ network topologies, allowing people and devices to seamlessly internetwork in areas with no pre-existing communication infrastructure, e.g., disaster recovery environments. Ad hoc networking concept is not a new one, having been around in various forms for over 20 years. Traditionally, tactical networks have been the only communication networking application that followed the ad hoc paradigm. Recently, the introduction of new technologies such as the Bluetooth, IEEE 802.11 and Hyperlan are helping enable eventual commercial MANET deployments outside the military domain. These recent evolutions have been generating a renewed and growing interest in the research and development of MANET. This paper attempts to provide a comprehensive overview of this dynamic field. It first explains the important role that mobile ad hoc networks play in the evolution of future wireless technologies. Then, it reviews the latest research activities in these areas, including a summary of MANETs characteristics, capabilities, applications, and design constraints. The paper concludes by presenting a set of challenges and problems requiring further research in the future. � 2003 Elsevier B.V. All rights reserved.

/pdf/mobile-ad-hoc-networking-imperatives-and-challenges-56mord86q0.pdf

Mobile ad hoc networking: imperatives and challenges

From the Publisher:
For more than twenty years, Modern Control Systems has set the standard of excellence for undergraduate control systems textbooks. It has remained a bestseller because Richard Dorf and Robert Bishop have been able to take complex control theory and make it exciting and accessible to students. The book presents a control engineering methodology that, while based on mathematical fundamentals, stresses physical system modeling and practical control system designs with realistic system specifications.

Modern Control Systems

Part 1 Circuits: passive components voltage and current sources linear circuit analysis passive signal processing nonlinear circuits Laplace transform state variables, W-K Chen the z-transform, RC Dorf and Z Wan t-pi equivalent networks transfer functions of filters frequency response stability analysis Part 2 Signal processing: digital signal processing speech signal processing spectral estimation and modelling multidimensional signal processing VLSI for signal processing acoustic signal processing neural networks Part 3 Electronics: semiconductors semiconductor manufacturing integrated circuits surface mount technologies operational amplifiers amplifiers computer-aided circuit simulation active filters power electronics optoelectrics D/A and A/D converters thermal management of electronics Part 4 Electromagnetics: electromagnetic fields magnetism and magnetic fields wave propagation antennas microwave devices compatibility lightwave solid state circuits three-dimensional analysis computational electromagnetics Part 5 Electrical effects and devices: electroacoustic devices surface acoustic wave filters ultrasound ferroelectric and piezoelectric materials piezoresistivity the Hall effect superconductivity pyroelectric materials and devices dielectrics and insulators sensors magneto-optics smart materials Part 6 Energy: conventional power generation distributed power generation transmission power transformers energy distribution electrical machines energy management Part 7 Communications: broadcasting digital communication optical communication networks B-ISDN information theory satellites and aerospace personal and office phase locked loop telemetry computer-aided design and analysis of communication systems Part 8 Digital devices: logic elements memory devices logical devices microprocessors displays data acquisition testing Part 9 Computer engineering: organization programming memory systems input and output software engineering computer graphics computer networks fault tolerance knowledge engineering parallel processors operating systems computer security computer reliability Part 10 Systems: control systems robotics aerospace systems command, control and communications (c3) industrial systems man-machine systems vehicular systems industrial illuminating systems instruments navigation systems Part 11 Biomedical systems bioelectricity biomedical sensors bioelectronics and instruments medical imaging rehabilitation engineering biocomputing safety and risk control issues

The Electrical Engineering Handbook

Table of Integrals

INTRODUCTION Body, Personal, and Local Ad Hoc Wireless Networks, Marco Conti Multicasting Techniques in Mobile Ad Hoc Networks, Xiao Chen and Jie Wu Quality of Service in Mobile Ad Hoc Networks, Satyabrata Chakrabarti, and Amitabh Mishra Power-Conservative Designs in Ad Hoc Wireless Networks, Yu-Chee Tseng and Ting-Yu Lin Performance Analysis of Wireless Ad Hoc Networks, Anurag Kumar and Aditya Karnik WIRELESS TRANSMISSION TECHNIQUES Coding for the Wireless Channel, Ezio Biglieri Unicast Routing Techniques for Mobile Ad Hoc Networks, Roberto Beraldi and Roberto Baldoni Satellite Communications, Matthew Sadiku WIRELESS COMMUNICATION SYSTEMS AND PROTOCOLS Wireless Communication Protocols, Pascal Lorenz An Integrated Platform for Ad Hoc GSM Cellular Communications, George N. Aggelou IEEE 802.11 and Bluetooth: An Architectural Overview, Sal Yazbeck ROUTING TECHNIQUES IN AD HOC WIRELESS NETWORKS - PART I Position-Based Routing in Ad Hoc Wireless Networks, Jorg Widmer, Martin Mauve, Hannes Hartenstein, and Holger Fubler Structured Proactive and Reactive Routing for Wireless Mobile Ad Hoc Networks, Ahmed Safwat, Hossam Hassanein, and Hussein Mouftah Hybrid Routing: The Pursuit of an Adaptable and Scalable Routing Framework for Ad Hoc Networks, Prince Samar, Marc R. Pearlman, and Zygmunt Haas ROUTING TECHNIQUES IN AD HOC WIRELESS NETWORKS - PART II Adaptive Routing in Ad Hoc Networks, Yantai Shu, Oliver Yang, and Lei Wang Position Based Ad Hoc Routes in Ad Hoc Networks, Silvia Giordano and Ivan Stojmenovic Route Discovery Optimization Techniques in Ad Hoc Wireless Networks, Boon-Chong Seet, Bu-Sung Lee, and Chiew-Tong Lau APPLICATIONS OF AD HOC WIRELESS NETWORKS Location-Aware Routing and Applications in Mobile Ad Hoc Wireless Networks, Yu-Chee Tseng and Chih-Sun Hsu Mobility Over TCP/IP, Jose Ferreira de Rezende, Michele Lima, and Nelson Fonseca An Intelligent On-Demand Multicast Routing Protocol in Ad Hoc Networks, Kuochen Wang and Chaou-Tang Chang GPS-based Reliable Routing Algorithms in Ad Hoc Networks, Young-Joo Suh, Won-Ik Kim, and Dong-Hee Kwon POWER MANAGEMENT IN AD HOC WIRELESS NETWORKS Power-Aware Wireless Mobile Ad Hoc Networks, Ahmed Safwat, Hossam Hassanein, and Hussein Mouftah Energy Efficient Multicast in Ad Hoc Networks, Hee Yong Youn, Chansu Yu, Ben Lee, and Sangman Moh Energy-Conserving Grid Routing Protocol in Mobile Ad Hoc Networks, Jang-Ping Sheu, Cheng-Ta Hu, and Chi-Min Chao Routing Algorithms for Balanced Energy Consumption in Ad Hoc Networks, Hee Yong Youn, Chansu Yu, and Ben Lee CONNECTION AND TRAFFIC MANAGEMENT IN AD HOC WIRELESS NETWORKS An Efficient Resource Discovery Algorithm for Wireless Ad Hoc Networks, Jiangchuan Liu, Kazem Sohraby, Qian Zhang, and Bo Li An Integrated Platform for Quality-of-Service Support in Mobile Multimedia Clustered Ad Hoc Networks, George N. Aggelou Quality of Service Models for Ad Hoc Wireless Networks, Xiao Hannan, Chua Kee Chaing, and Seah Winston Scheduling of Broadcasts in Multihop Wireless Networks, Jang-Ping Sheu, Pei-Kai Hung, and Chih-Shun Hsu SECURITY AND PRIVACY ASPECTS IN AD HOC WIRELESS NETWORKS Security in Wireless Ad Hoc Networks - A Survey, Amitabh Mishra and Ketan M. Nadkarni Securing Mobile Ad Hoc Networks, Panagiotis Papadimitratos and Zygmunt Haas Security Issues in Ad Hoc Networks, Dan Zhou

The handbook of ad hoc wireless networks

CHAPTER 1. Electric Circuit Variables. 1.1 Introduction. 1.2 Electric Circuits and Current. 1.3 Systems of Units. 1.4 Voltage. 1.5 Power and Energy. 1.6 Circuit Analysis and Design. 1.7 How Can We Check. 1.8 Design Example-Jet Valve Controller. 1.9 Summary. Problems. Design Problems. CHAPTER 2. Circuit Elements. 2.1 Introduction. 2.2 Engineering and Linear Models. 2.3 Active and Passive Circuit Elements. 2.4 Resistors. 2.5 Independent Sources. 2.6 Voltmeters and Ammeters. 2.7 Dependent Sources. 2.8 Transducers. 2.9 Switches. 2.10 How Can We Check. 2.11 Design Example-Temperature Sensor. 2.12 Summary. Problems. Design Problems. CHAPTER 3. Resistive Circuits. 3.1 Introduction. 3.2 Kirchhoff 's Laws. 3.3 Series Resistors and Voltage Division. 3.4 Parallel Resistors and Current Division. 3.5 Series Voltage Sources and Parallel Current Sources. 3.6 Circuit Analysis. 3.7 Analyzing Resistive Circuits Using MATLAB. 3.8 How Can We Check. 3.9 Design Example-Adjustable Voltage Source. 3.10 Summary. Problems. Design Problems. CHAPTER 4. Methods of Analysis of Resistive Circuits. 4.1 Introduction. 4.2 Node Voltage Analysis of Circuits with Current Sources. 4.3 Node Voltage Analysis of Circuits with Current and Voltage Sources. 4.4 Node Voltage Analysis with Dependent Sources. 4.5 Mesh Current Analysis with Independent Voltage Sources. 4.6 Mesh Current Analysis with Current and Voltage Sources. 4.7 Mesh Current Analysis with Dependent Sources. 4.8 The Node Voltage Method and Mesh Current Method Compared. 4.9 Mesh Current Analysis Using MATLAB. 4.10 How Can We Check. 4.11 Design Example-Potentiometer Angle Display. 4.12 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 5. Circuit Theorems. 5.1 Introduction. 5.2 Source Transformations. 5.3 Superposition. 5.4 Th-evenin's Theorem. 5.5 Norton's Equivalent Circuit. 5.6 Maximum Power Transfer. 5.7 Using MATLAB to Determine the Th-evenin Equivalent Circuit. 5.8 How Can We Check. 5.9 Design Example-Strain Gauge Bridge. 5.10 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 6. The Operational Amplifier. 6.1 Introduction. 6.2 The Operational Amplifier. 6.3 The Ideal Operational Amplifier. 6.4 Nodal Analysis of Circuits Containing Ideal Operational Amplifiers. 6.5 Design Using Operational Amplifiers. 6.6 Operational Amplifier Circuits and Linear Algebraic Equations. 6.7 Characteristics of Practical Operational Amplifiers. 6.8 Analysis of Op Amp Circuits Using MATLAB. 6.9 How Can We Check. 6.10 Design Example-Transducer Interface Circuit. 6.11 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 7. Energy Storage Elements. 7.1 Introduction. 7.2 Capacitors. 7.3 Energy Storage in a Capacitor. 7.4 Series and Parallel Capacitors. 7.5 Inductors. 7.6 Energy Storage in an Inductor. 7.7 Series and Parallel Inductors. 7.8 Initial Conditions of Switched Circuits. 7.9 Operational Amplifier Circuits and Linear Differential Equations. 7.10 Using MATLAB to Plot Capacitor or Inductor Voltage and Current. 7.11 How Can We Check. 7.12 Design Example-Integrator and Switch. 7.13 Summary. Problems. Design Problems. CHAPTER 8. The Complete Response of RL and RC Circuits. 8.1 Introduction. 8.2 First-Order Circuits. 8.3 The Response of a First-Order Circuit to a Constant Input. 8.4 Sequential Switching. 8.5 Stability of First-Order Circuits. 8.6 The Unit Step Source. 8.7 The Response of a First-Order Circuit to a Nonconstant Source. 8.8 Differential Operators. 8.9 How Can We Check. 8.10 Design Example-A Computer and Printer. 8.11 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 9. The Complete Response of Circuits with Two Energy Storage Elements. 9.1 Introduction. 9.2 Differential Equation for Circuits with Two Energy Storage Elements. 9.3 Solution of the Second-Order Differential Equation-The Natural Response. 9.4 Natural Response of the Unforced Parallel RLC Circuit. 9.5 Natural Response of the Critically Damped Unforced Parallel RLC Circuit. 9.6 Natural Response of an Underdamped Unforced Parallel RLC Circuit. 9.7 Forced Response of an RLC Circuit. 9.8 Complete Response of an RLC Circuit. 9.9 State Variable Approach to Circuit Analysis. 9.10 Roots in the Complex Plane. 9.11 How Can We Check. 9.12 Design Example-Auto Airbag Igniter. 9.13 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 10. Sinusoidal Steady-State Analysis. 10.1 Introduction. 10.2 Sinusoidal Sources. 10.3 Steady-State Response of an RL Circuit for a Sinusoidal Forcing Function. 10.4 Complex Exponential Forcing Function. 10.5 The Phasor. 10.6 Phasor Relationships for R, L, and C Elements. 10.7 Impedance and Admittance. 10.8 Kirchhoff 's Laws Using Phasors. 10.9 Node Voltage and Mesh Current Analysis Using Phasors. 10.10 Superposition, Th-evenin and Norton Equivalents, and Source Transformations. 10.11 Phasor Diagrams. 10.12 Phasor Circuits and the Operational Amplifier. 10.13 The Complete Response. 10.14 Using MATLAB for Analysis of Steady-State Circuits with Sinusoidal Inputs. 10.15 How Can We Check. 10.16 Design Example-Op Amp Circuit. 10.17 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 11. AC Steady-State Power. 11.1 Introduction. 11.2 Electric Power. 11.3 Instantaneous Power and Average Power. 11.4 Effective Value of a Periodic Waveform. 11.5 Complex Power. 11.6 Power Factor. 11.7 The Power Superposition Principle. 11.8 The Maximum Power Transfer Theorem. 11.9 Coupled Inductors. 11.10 The Ideal Transformer. 11.11 How Can We Check. 11.12 Design Example-Maximum Power Transfer. 11.13 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 12. Three-Phase Circuits. 12.1 Introduction. 12.2 Three-Phase Voltages. 12.3 The Y-to-Y Circuit. 12.4 The --Connected Source and Load. 12.5 The Y-to-- Circuit. 12.6 Balanced Three-Phase Circuits. 12.7 Instantaneous and Average Power in a Balanced Three-Phase Load. 12.8 Two-Wattmeter Power Measurement. 12.9 How Can We Check. 12.10 Design Example-Power Factor Correction. 12.11 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 13. Frequency Response. 13.1 Introduction. 13.2 Gain, Phase Shift, and the Network Function. 13.3 Bode Plots. 13.4 Resonant Circuits. 13.5 Frequency Response of Op Amp Circuits. 13.6 Plotting Bode Plots Using MATLAB. 13.7 How Can We Check. 13.8 Design Example-Radio Tuner. 13.9 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 14. The Laplace Transform. 14.1 Introduction. 14.2 Laplace Transform. 14.3 Impulse Function and Time Shift Property. 14.4 Inverse Laplace Transform. 14.5 Initial and Final Value Theorems. 14.6 Solution of Differential Equations Describing a Circuit. 14.7 Circuit Analysis Using Impedance and Initial Conditions. 14.8 Transfer Function and Impedance. 14.9 Convolution Theorem. 14.10 Stability. 14.11 Partial Fraction Expansion Using MATLAB. 14.12 How Can We Check. 14.13 Design Example-Space Shuttle Cargo Door. 14.14 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 15. Fourier Series and Fourier Transform. 15.1 Introduction. 15.2 The Fourier Series. 15.3 Symmetry of the Function f (t). 15.4 Fourier Series of Selected Waveforms. 15.5 Exponential Form of the Fourier Series. 15.6 The Fourier Spectrum. 15.7 The Truncated Fourier Series. 15.8 Circuits and Fourier Series. 15.9 The Fourier Transform. 15.10 Fourier Transform Properties. 15.11 The Spectrum of Signals. 15.12 Convolution and Circuit Response. 15.13 The Fourier Transform and the Laplace Transform. 15.14 How Can We Check. 15.15 Design Example-DC Power Supply. 15.16 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 16. Filter Circuits. 16.1 Introduction. 16.2 The Electric Filter. 16.3 Filters. 16.4 Second-Order Filters. 16.5 High-Order Filters. 16.6 Simulating Filter Circuits Using PSpice. 16.7 How Can We Check. 16.8 Design Example-Anti-Aliasing Filter. 16.9 Summary. Problems. PSpice Problems. Design Problems. CHAPTER 17. Two-Port and Three-Port Networks. 17.1 Introduction. 17.2 T-to-- Transformation and Two-Port Three-Terminal Networks. 17.3 Equations of Two-Port Networks. 17.4 Z and Y Parameters for a Circuit with Dependent Sources. 17.5 Hybrid and Transmission Parameters. 17.6 Relationships Between Two-Port Parameters. 17.7 Interconnection of Two-Port Networks. 17.8 How Can We Check. 17.9 Design Example-Transistor Amplifier. 17.10 Summary. Problems. Design Problems. APPENDIX A. Matrices, Determinants, and Cramer'sRule. APPENDIX B. Complex Numbers. APPENDIX C. Mathematical Formulas. APPENDIX D. Euler'sFormula. APPENDIX E. Standard Resistor Color Code. REFERENCES. INDEX.

Richard C. Dorf

Papers

Modern Control Systems

The Electrical Engineering Handbook

Table of Integrals

The handbook of ad hoc wireless networks

Introduction to electric circuits