其他电脑书_计算机类_最新资料_得益网

Java,VB游戏开发合集[5][seanet][chmpdf].rar

2008-08-17 08:54:07

Java游戏高级编程
Developing Games in Java
Microsoft Visual Basic Game Programming with DirectX
Siemens Mobility Toolkit for Java DevelopmentDeveloping Games with the Game API
Cutting Edge Java Game Programming
VB - GraphicX - Video Game Engine OCX for Visual Basic
java游戏开发
Java Game Programming For Dummies
Black_Art_of_Java_Game_Programming
Micro Java Game Development.pdf
Java 1.4 Game Programming (647 Pages) 2003 - (By Laxxuss)
Visual Basic Game Programming with DirectX
J2ME.Game.Programming
The.Art.of.Assembly.Language.

测控电路视频教程第三章信号调制解调电路(上)

2008-08-14 10:48:32

The University of Google

2008-08-12 09:29:17

书名：The University of Google
作者：Tara Brabazon
出版：Ashgate 2007
ISBN：075467097X
格式：PDF；1.16MB；273页
Contents
Introduction Living (in the) post 1
Section One – Literacy
1 BA (Google): graduating to information literacy 15
2 Digital Eloi and analogue Morlocks 51
Section Two – Culture
3 Stretching ?exible learning 71
4 An i-diots guide to i-lectures 103
5 Popular culture and the sensuality of education 131
Section Three – Critique
6 Exploiting knowledge? 155
7 Deglobalizing education 179
8 Burning towers and smouldering truth: September 11 and the
changes to critical literacy 193
Conclusion The gift: why education matters 215
Select bibliography 223
Index 225

Introduction
Living (in the) post
With the public sector, education, the welfare state – all the big, ‘safe’ institutions – up against
the wall, there’s nothing good or clever or heroic about going under. When all is said and
done, why bother to think ‘deeply’ when you’re not being paid to think deeply?1
Dick Hebdige
Face it: You’re always just a breath away from a job in telemarketing.
2
Douglas Coupland
University teaching is a special job. It is a joy to wake up in the morning knowing that
during each working day, an extraordinary event or experience will jut out from the
banal rhythms of administration, answering emails and endlessly buzzing telephones.
Students, in these ruthless times, desperately want to feel something – anything – beyond
the repetitive and pointless patterns of the casualized workplace and the selection of
mobile phone ring tones. This cutting consumerism subtly corrodes the self. These
students follow anyone who makes them feel more than a number, more than labour
fodder for fast food outlets. I believe in these students, and I need to believe that the
future they create will be better than the intellectual shambles we have bequeathed them.
Being a teacher is a privilege to never take for granted. The bond between students and
educators is not severed when a certi?cate is presented. We share a memory of change,
of difference, of feeling that we can change the world, one person at a time.
In 2002, I wrote about teaching in a rage. Digital Hemlock3
was an angry book, howling
at the economic decisions and choices made by our university administrators, prioritizing
technology over people, and applications over ideas. I was frustrated and amazed at the
gnorance and ineptitude that was dismissing the expertise of teachers, and ignoring the
outstanding range of educational literature urging caution in unstintingly embracing
technological change over more nuanced theories of learning. The response to this
embittered book from readers was immediate, powerful and embracing. Letters ?ooded
my mail box. Emails deluged my in-box. It was as if neglected and concerned teachers
had been seething with anger – waiting to express critique and ask the dif?cult questions

2D.Object.Detection.and.Recognition

2008-08-01 17:01:54

目录
Acknowledgments xv
1 Introduction 1
1.1 Low-Level Image Analysis and Bottom-up Segmentation 1
1.2 Object Detection with Deformable-Template Models 3
1.3 Detection of Rigid Objects 5
1.4 Object Recognition 8
1.5 Scene Analysis: Merging Detection and Recognition 10
1.6 Neural Network Architectures 12
2 Detection and Recognition: Overview of Models 13
2.1 A Bayesian Approach to Detection 13
2.2 Overview of Object-Detection Models 18
2.3 Object Recognition 25
2.4 Scene Analysis: Combining Detection and Recognition 27
2.5 Network Implementations 28
3 1D Models: Deformable Contours 31
3.1 Inside-Outside Model 31
3.2 An Edge-Based Data Model 40
3.3 Computation 41
vii
viii Contents
3.4 Joint Estimation of the Curve and the Parameters 48
3.5 Bibliographical Notes and Discussion 51
4 1D Models: Deformable Curves 57
4.1 Statistical Model 58
4.2 Computation: Dynamic Programming 63
4.3 Global Optimization on a Tree-Structured Prior 67
4.4 Bibliographical Notes and Discussion 78
5 2D Models: Deformable Images 81
5.1 Statistical Model 83
5.2 Connection to the Deformable-Contour Model 88
5.3 Computation 88
5.4 Bernoulli Data Model 93
5.5 Linearization 97
5.6 Applications to Brain Matching 101
5.7 Bibliographical Notes and Discussion 104
6 Sparse Models: Formulation, Training, and Statistical Properties 109
6.1 From Deformable Models to Sparse Models 111
6.2 Statistical Model 113
6.3 Local Features: Comparison Arrays 118
6.4 Local Features: Edge Arrangements 121
6.5 Local Feature Statistics 128
7 Detection of Sparse Models: Dynamic Programming 139
7.1 The Prior Model 139
7.2 Computation: Dynamic Programming 142
7.3 Detecting Pose 147
7.4 Bibliographical Notes and Discussion 148
8 Detection of Sparse Models: Counting 151
8.1 Detecting Candidate Centers 153
8.2 Computing Pose and Instantiation Parameters 156
ix Contents
8.3 Density of Candidate Centers and False Positives 159
8.4 Further Analysis of a Detection 160
8.5 Examples 163
8.6 Bibliographical Notes and Discussion 176
9 Object Recognition 181
9.1 Classification Trees 185
9.2 Object Recognition with Trees 192
9.3 Relational Arrangements 197
9.4 Experiments 201
9.5 Why Multiple Trees Work 209
9.6 Bibliographical Notes and Discussion 212
10 Scene Analysis: Merging Detection and Recognition 215
10.1 Classification of Chess Pieces in Gray-Level Images 216
10.2 Detecting and Classifying Characters 224
10.3 Object Clustering 228
10.4 Bibliographical Notes and Discussion 231
11 Neural Network Implementations 233
11.1 Basic Network Architecture 234
11.2 Hebbian Learning 237
11.3 Learning an Object Model 238
11.4 Learning Classifiers 241
11.5 Detection 248
11.6 Gating and Off-Center Recognition 250
11.7 Biological Analogies 252
11.8 Bibliographical Notes and Discussion 255
12 Software 259
12.1 Setting Things Up 259
12.2 Important Data Structures 262
12.3 Local Features 265
12.4 Deformable Models 267
x Contents
12.5 Sparse Models 274
12.6 Sparse Model—Counting Detector: Training 276
12.7 Example—LATEX 278
12.8 Other Objects with Synthesized Training Sets 280
12.9 Shape Recognition 281
12.10 Combining Detection and Recognition 284
Bibliography 287
Index 299

经典电脑书籍合集

2008-07-31 21:43:47

本书有以下组成
WinXP使用技巧（58集版本）
电脑故障维修判断指导大全
电脑技巧精彩文章100篇
电脑完全优化手册
电脑应用文章精华
经典电脑故障全攻略
玩转电脑的基本功
主板知识
电脑技巧精彩文章100篇

USB Complete: Everything You Need to Develop Custom USB Peripherals 3e

2008-07-29 08:41:45

Contents
Introduction xv
1. USB Basics 1
What USB Can Do 2
Benefits for Users 2
Benefits for Developers 6
Beyond the Hype 10
Evolution of an Interface 13
Original USB 14
USB 2.0 15
USB On-The-Go 16
Wireless USB 16
USB versus IEEE-1394 16
USB versus Ethernet 17
Bus Components 17
Topology 18
Defining Terms 19
Contents
iv
Division of Labor 22
The Host’s Duties 22
The Peripheral’s Duties 25
What about Speed? 28
Developing a Device 29
Elements in the Link 29
Tools for Developing 30
Steps in Developing a Project 30
2. Inside USB Transfers 33
Transfer Basics 34
Enumeration Communications 34
Application Communications 34
Managing Data on the Bus 35
Host Speed and Bus Speed 36
Elements of a Transfer 37
Device Endpoints: the Source and Sink of Data 38
Pipes: Connecting Endpoints to the Host 40
Types of Transfers 40
Stream and Message Pipes 42
Initiating a Transfer 43
Transactions: the Building Blocks of a Transfer 44
Transaction Phases 45
Ensuring that Transfers Are Successful 51
Handshaking 51
Reporting the Status of Control Transfers 55
Error Checking 56
3. A Transfer Type for Every Purpose 61
Control Transfers 61
Availability 62
Structure 62
Data Size 66
Speed 66
Detecting and Handling Errors 68
Bulk Transfers 68
Availability 69
Structure 69
Data Size 69
Speed 71
Detecting and Handling Errors 71
Contents
v
Interrupt Transfers 72
Availability 72
Structure 72
Data Size 73
Speed 73
Detecting and Handling Errors 75
Isochronous Transfers 76
Availability 76
Structure 76
Data Size 79
Speed 79
Detecting and Handling Errors 80
More about Time-critical Transfers 80
Bus Bandwidth 81
Device Capabilities 81
Host Capabilities 82
Host Latencies 83
4. Enumeration: How the Host Learns about Devices 85
The Process 86
Enumeration Steps 87
Enumerating a Hub 91
Device Removal 92
Tips for Successful Enumeration 92
Descriptors 93
Types of Descriptors 94
Device Descriptor 96
Device_qualifier Descriptor 99
Configuration Descriptor 101
Other_speed_configuration Descriptor 103
Interface Association Descriptor 103
Interface Descriptor 106
Endpoint Descriptor 108
String Descriptor 112
Other Standard Descriptors 113
The Microsoft OS Descriptor 114
Descriptors in 2.0-compliant Devices 114
Making 1.x Descriptors 2.0-compliant 114
Detecting the Speed of a Dual-Speed Device 116
Contents
vi
5. Control Transfers:
Structured Requests for Critical Data 117
Elements of a Control Transfer 117
Setup Stage 118
Data Stage 120
Status Stage 122
Handling Errors 124
Device Firmware 125
The Requests 127
Get_Status 129
Clear_Feature 130
Set_Feature 131
Set_Address 132
Get_Descriptor 133
Set_Descriptor 134
Get_Configuration 135
Set_Configuration 136
Get_Interface 137
Set_Interface 138
Synch_Frame 139
Other Control Requests 140
Class-specific Requests 140
Vendor-specific Requests 140
6. Chip Choices 141
Components of a USB Device 142
The USB Controller 143
Other Device Components 145
Simplifying Device Development 148
Device Requirements 149
Chip Documentation 150
Driver Choices 151
Debugging Tools 151
Controllers with Embedded CPUs 154
Microchip PIC18F4550 156
Cypress EZ-USB 157
Cypress enCoRe II 163
Freescale MC68HC908JB16 164
Freescale MCF5482 ColdFire 164
Contents
vii
Controllers that Interface to External CPUs 165
National Semiconductor USBN9603 165
Philips Semiconductors ISP1181B 167
Philips Semiconductors ISP1581 168
PLX Technology NET2272 169
FTDI Chip FT232BM and FT245BM 170
7. Device Classes 177
About Classes 177
Device Working Groups 178
Elements of a Class Specification 178
Defined Classes 181
Audio 181
Chip/Smart Card Interface 189
Communication Devices: Modems and Networks 191
Content Security 198
Device Firmware Upgrade 200
Human Interface 203
IrDA Bridge 206
Mass Storage 208
Printers 213
Still Image Capture: Cameras and Scanners 217
Test and Measurement 220
Video 221
Implementing Non-standard Functions 226
Standard or Custom Driver? 226
Converting from RS-232 227
Converting from the Parallel Port 229
PC-to-PC Communications 229
Using a Generic Driver 231
8. How the Host Communicates 233
Device Driver Basics 233
Insulating Applications from the Details 234
Options for USB Devices 235
User and Kernel Modes 235
WDM Drivers 237
Layered Drivers 238
Communication Flow 243
More Examples 246
Contents
viii
Creating a Custom Driver 247
Writing a Driver from Scratch 247
Using a Driver Toolkit 248
Using GUIDs 249
Device Setup GUIDs 250
Device Interface GUIDs 251
9. Matching a Driver to a Device 253
Using the Device Manager 253
Viewing Devices 254
Property Pages 257
Device Information in the Registry 257
The Hardware Key 258
The Class Key 259
The Driver Key 260
The Service Key 262
Inside INF Files 262
Syntax 265
Sections 266
Using Device Identification Strings 272
Finding a Match 274
Do You Need to Provide an INF File? 276
Tools and Diagnostic Aids 277
Tips for Using INF Files 277
What the User Sees 279
10. Detecting Devices 281
A Brief Guide to Calling API Functions 281
Managed and Unmanaged Code 282
Documentation 284
Using Visual C++ .NET 284
Using Visual Basic .NET 286
Finding Your Device 291
Obtaining the Device Interface GUID 292
Requesting a Pointer to a Device Information Set 293
Identifying a Device Interface 295
Requesting a Structure Containing the Device Path Name 298
Extracting the Device Path Name 301
Closing Communications 302
Contents
ix
Obtaining a Handle 303
Requesting a Communications Handle 303
Closing the Handle 306
Detecting Attachment and Removal 306
About Device Notifications 307
Registering for Device Notifications 307
Capturing Device Change Messages 311
Reading Device Change Messages 312
Retrieving the Device Path Name in the Message 314
Stopping Device Notifications 317
11. Human Interface Devices:
Using Control and Interrupt Transfers 319
What is a HID? 320
Hardware Requirements 321
Firmware Requirements 323
Identifying a Device as a HID 323
The HID Interface 326
HID Class Descriptor 326
Report Descriptors 328
HID-specific Requests 330
Get_Report 332
Get_Idle 333
Get_Protocol 334
Set_Report 335
Set_Idle 336
Set_Protocol 337
Transferring Data 338
About the Example Code 338
Sending Reports via Interrupt Transfers 340
Receiving Reports via Interrupt Transfers 343
Sending Reports via Control Transfers 345
Receiving Reports via Control Transfers 347
12. Human Interface Devices: Reports 351
Report Structure 351
Using the HID Descriptor Tool 352
Control and Data Item Values 354
Item Types 354
Contents
x
The Main Item Type 355
Input, Output, and Feature Items 356
Collection and End Collection Items 360
The Global Item Type 361
Identifying the Report 361
Describing the Data’s Use 363
Converting Units 365
Converting Raw Data 366
Describing the Data’s Size and Format 369
Saving and Restoring Global Items 369
The Local Item Type 370
Physical Descriptors 373
Padding 373
13. Human Interface Devices: Host Application 375
HID API Functions 375
Requesting Information about the HID 376
Sending and Receiving Reports 376
Providing and Using Report Data 378
Managing HID Communications 379
Identifying a Device 379
Reading the Vendor and Product IDs 380
Getting a Pointer to a Buffer with Device Capabilities 384
Getting the Device’s Capabilities 385
Getting the Capabilities of the Buttons and Values 388
Sending and Receiving Reports 388
Sending an Output Report to the Device 389
Reading an Input Report from the Device 392
Writing a Feature Report to the Device 402
Reading a Feature Report from a Device 404
Closing Communications 406
14. Bulk Transfers for Any CPU 407
Two Projects 407
Asynchronous Serial Interface 408
Parallel Interface 414
Host Programming 421
Using the D2XX Direct Driver 422
Selecting a Driver 422
Contents
xi
Performance Tips 426
Speed Considerations 426
Minimizing Latency 427
Preventing Lost Data 428
EEPROM Programming 429
EEPROM Data 429
Editing the Data 429
15. Hubs: the Link between Devices and the Host 433
Hub Basics 434
The Hub Repeater 435
The Transaction Translator 438
The Hub Controller 444
Speed 445
Maintaing an Idle Bus 447
How Many Hubs in Series? 447
The Hub Class 448
Hub Descriptors 448
Hub-class Requests 452
Port Indicators 453
16. Managing Power 455
Powering Options 455
Voltages 456
Which Peripherals Can Use Bus Power? 457
Power Needs 458
Informing the Host 459
Hub Power 461
Power Sources 461
Over-current Protection 462
Power Switching 463
Saving Power 464
Global and Selective Suspends 464
Current Limits for Suspended Devices 464
Resuming Communications 466
Power Management under Windows 467
17. Testing and Debugging 471
Tools 471
Hardware Protocol Analyzers 472
Software Protocol Analyzers 475
Traffic Generators 477
Contents
xii
Testing 477
Compliance Testing 478
WHQL Testing 484
18. Signals and Encoding 489
Bus States 489
Low-speed and Full-speed Bus States 490
High-speed Bus States 492
Data Encoding 494
Staying Synchronized 496
Timing Accuracy 498
Packet Format 499
Fields 499
Inter-packet Delay 501
Test Modes 502
Entering and Exiting Test Modes 502
The Modes 502
19. The Electrical Interface 505
Transceivers and Signals 506
Cable Segments 506
Low- and Full-speed Transceivers 508
High-speed Transceivers 512
Signal Voltages 517
Low and Full Speeds 517
High Speed 518
Cables 518
Conductors 518
Connectors 520
Detachable and Captive Cables 524
Cable Length 524
Ensuring Signal Quality 525
Sources of Noise 526
Balanced Lines 527
Twisted Pairs 527
Shielding 528
Edge Rates 529
Isolated Interfaces 529
Contents
xiii
Wireless Links 530
Cypress WirelessUSB 530
The Wireless USB Initiative 533
Other Options 534
20. Dual-role Devices with USB On-The-Go 535
Device and Host in One 536
Capabilities and Limits 536
Requirements for an OTG Device 538
The OTG Descriptor 545
Feature Codes for HNP 545
OTG Controller Chips 545
Philips ISP1362 546
TransDimension TD242LP 547
Cypress CY7C67200 EZ-OTG 548
Philips ISP1261 Bridge Controller 549
Index 551

cadence 高速电路板设计与仿真

2008-07-28 16:42:20

目录
第1章软件安装及License设置
第2章 Capture原理图设计工作平台
第3章制作元件及创建元件库
第4章创建新设计
第5章 PCB设计预处理
第6章 Allegro的属性设置
第7章建立焊盘
第8章建立元件封装
第9章电路板的建立
第10章设置设计规划
第11章布局
第12章高级布局
第13章铺铜
第14章布线
第15章后处理
第16章加入测试点
第17章电路板加工前的准备工作
第18章 ALllegro其他高级功能
第19章高速PCB设计知识
第20章仿真前的准备工作
第21章约束驱动布局
第22章约束驱动布线
第23章后布线DRC分析
第24章差分对设计
附录A User Preferences设置
附录B DRC错误代码
参考文献
非常经典的书籍，几乎包括了所有做的东西。只能说是太经典了。
此书籍是参考spb15.5版本，其实其他版本基本大同小异，比如说spb15.2吧，只是里面少了些speedsheet，这是我所了解的，说的不对不要见怪。

华为3com存储基础知识白皮书

2008-07-27 15:56:53

目录
第1章网络存储主要技术.......................................................................................................7
1.1 概述............................................................................................................................7
1.2 DAS：直接附加存储.................................................................................................7
1.3 SAN：存储区域网络.................................................................................................8
1.3.1 什么是SAN？.................................................................................................8
1.3.2 SAN的误区......................................................................................................9
1.3.3 SAN的组成......................................................................................................9
1.3.4 FC SAN的问题................................................................................................9
1.3.5 IP SAN ...........................................................................................................10
1.4 NAS：网络附加存储...............................................................................................12
1.5 SAN和NAS...............................................................................................................13
第2章主要协议和相关技术.................................................................................................14
2.1 SCSI ..........................................................................................................................14
2.2 FC（光纤通道）......................................................................................................14
2.3 iSCSI .........................................................................................................................16
2.4 iSCSI与光纤通道的比较.........................................................................................17
第3章文件系统相关知识.....................................................................................................19
3.1 什么是文件系统......................................................................................................19
3.2 主流文件系统和特点..............................................................................................20
3.3 NFS和CIFS网络文件系统工作原理和特点...........................................................24
3.4 存储系统与文件系统的关系..................................................................................25
第4章 RAID技术...................................................................................................................26
4.1 RAID概述.................................................................................................................26
4.2 RAID级别.................................................................................................................26
4.2.1 RAID0............................................................................................................26
4.2.2 RAID1............................................................................................................27
4.2.3 RAID2............................................................................................................28
4.2.4 RAID3............................................................................................................28
4.2.5 RAID4............................................................................................................29
4.2.6 RAID5............................................................................................................29
4.2.7 RAID6............................................................................................................30
4.2.8 RAID10..........................................................................................................31
4.2.9 RAID01..........................................................................................................32
4.2.10 JBOD............................................................................................................32
4.3 不同RAID级别对比................................................................................................33
第5章主机系统高可用技术.................................................................................................35
5.1 概述..........................................................................................................................35
5.1.1 双机热备份方式...........................................................................................37
5.1.2 双机互备份方式...........................................................................................41
5.1.3 群集并发存取方式.......................................................................................43
5.2 工作模式..................................................................................................................45
5.2.1 双机热备份方式...........................................................................................45
5.2.2 双机互备方式...............................................................................................45
5.2.3 群集并发存取方式.......................................................................................45
5.3 适用场合..................................................................................................................46
5.4 对存储系统的要求..................................................................................................46
第6章数据一致性.................................................................................................................48
6.1 数据一致性概述......................................................................................................48
6.2 Cache引起的数据一致性问题.................................................................................48
6.3 时间不同步引起的数据一致性问题......................................................................49
6.4 文件共享中的数据一致性问题..............................................................................50
第7章数据复制与容灾.........................................................................................................51
7.1 灾难恢复/业务连续性.............................................................................................51
7.2 数据备份系统..........................................................................................................54
7.2.1 数据备份.......................................................................................................54
7.2.2 数据复制.......................................................................................................56
7.3 数据一致性..............................................................................................................59
7.4 总结..........................................................................................................................60
第8章备份技术.....................................................................................................................61
8.1 什么是备份..............................................................................................................61
8.2 备份与拷贝、归档的区别......................................................................................61
8.3 常规备份的实现方式..............................................................................................62
8.4 LAN Free和Serverless备份......................................................................................63
8.5 主流备份软件和介质..............................................................................................64
8.6 备份技术新趋势......................................................................................................68
第9章存储连接设备.............................................................................................................71
9.1 HBA卡介绍..............................................................................................................71
9.1.1 FC HBA相关知识： .....................................................................................71
9.1.2 主要HBA卡厂商..........................................................................................72
9.1.3 iSCSI HBA相关知识：.................................................................................72
9.1.4 iSCSI HBA和TOE网卡主要厂商.................................................................73
9.2 FC连接设备介绍......................................................................................................73
9.2.1 FC HUB相关知识： .....................................................................................73
9.2.2 FC Switch相关知识：...................................................................................73
9.2.3 FC Director相关知识：.................................................................................73
9.2.4 iSCSI-FC存储路由器....................................................................................74
9.2.5 FC Switch和FC Director主要厂商................................................................74
第10章信息生命周期...........................................................................................................74
10.1 什么是信息生命周期............................................................................................74
10.2 信息生命周期的实现............................................................................................75
10.3 实现ILM的技术保障和面临的挑战.....................................................................75
10.4 信息生命周期管理现状........................................................................................76
10.5 法规遵从与信息生命周期管理............................................................................76
10.6 与信息生命周期相关的存储技术........................................................................77
10.6.1 固定内容管理：.........................................................................................77
10.6.2 WORM：.....................................................................................................77
10.7 怎样看待信息生命周期管理................................................................................77
第11章其他存储技术及标准...............................................................................................78
11.1 SMI－S ...................................................................................................................78
11.2 CDP（持续数据保护） .........................................................................................79
11.3 虚拟存储................................................................................................................79
11.4 网格计算................................................................................................................80
11.5 高性能计算............................................................................................................80
11.6 负载均衡................................................................................................................80
第12章常见主机及操作系统...............................................................................................81
12.1 主机架构及操作系统概述....................................................................................81
12.1.1 主机架构.....................................................................................................81
12.1.2 操作系统.....................................................................................................81
12.1.3 操作系统比较.............................................................................................82
12.2 常见主机厂商及常见产品介绍............................................................................82
12.2.1 IBM： ..........................................................................................................82
12.2.2 SUN：..........................................................................................................83
12.2.3 Fujitsu: .........................................................................................................84
12.2.4 HP: ...............................................................................................................84
12.3 操作系统应用特点................................................................................................85
第13章常见数据库及应用系统...........................................................................................86
13.1 数据库厂商介绍....................................................................................................86
13.1.1 Oracle ...........................................................................................................86
13.1.2 DB2 ..............................................................................................................91
13.1.3 Sybase ..........................................................................................................94
13.1.4 MS SQL Server............................................................................................95

Aided Navigation GPS with High Rate Sensors

2008-07-25 08:28:18

I Theory 1
Part I Overview 3
1 Introduction 5
1.1 Method Overview. . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.1 Methodology Example . . . . . . . . . . . . . . . . . 8
1.1.2 Methodology Summary . . . . . . . . . . . . . . . . 10
1.2 Overview of Part I: Theory . . . . . . . . . . . . . . . . . . 12
1.2.1 Reference Frames . . . . . . . . . . . . . . . . . . . . 12
1.2.2 Deterministic Systems . . . . . . . . . . . . . . . . . 13
1.2.3 Stochastic Processes . . . . . . . . . . . . . . . . . . 13
1.2.4 Optimal State Estimation . . . . . . . . . . . . . . . 14
1.2.5 Performance Analysis . . . . . . . . . . . . . . . . . 15
1.2.6 Aided Navigation System Design and Analysis . . . 15
1.3 Overview of Part II: Applications . . . . . . . . . . . . . . . 16
1.3.1 GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.3.2 Aided Navigation Systems . . . . . . . . . . . . . . . 16
1.4 Overview of Appendices . . . . . . . . . . . . . . . . . . . . 17
2 Reference Frames 19
2.1 Reference Frame Properties . . . . . . . . . . . . . . . . . . 21
2.2 Reference Frame Definitions . . . . . . . . . . . . . . . . . . 23
2.2.1 Inertial Frame . . . . . . . . . . . . . . . . . . . . . 23
2.2.2 Earth Centered Earth Fixed (ECEF) Frames . . . . 24
2.2.3 Geographic Frame . . . . . . . . . . . . . . . . . . . 24
2.2.4 Geocentric Frame . . . . . . . . . . . . . . . . . . . . 24
2.2.5 Local Geodetic or Tangent Plane . . . . . . . . . . . 25
2.2.6 Body Frame . . . . . . . . . . . . . . . . . . . . . . . 26
2.2.7 PlatformFrame . . . . . . . . . . . . . . . . . . . . . 27
2.2.8 Instrument Frames . . . . . . . . . . . . . . . . . . . 27
2.2.9 Summary . . . . . . . . . . . . . . . . . . . . . . . . 27
2.3 ECEF Coordinate Systems . . . . . . . . . . . . . . . . . . 28
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viii CONTENTS
2.3.1 ECEF Rectangular Coordinates . . . . . . . . . . . . 29
2.3.2 The Earth Geoid and GravityModel . . . . . . . . . 29
2.3.3 ECEF Transformations . . . . . . . . . . . . . . . . 33
2.4 Reference Frame Transformations . . . . . . . . . . . . . . . 35
2.4.1 The Direction CosineMatrix . . . . . . . . . . . . . 35
2.4.2 Point Transformation . . . . . . . . . . . . . . . . . 39
2.4.3 Vector Transformation . . . . . . . . . . . . . . . . . 39
2.4.4 Matrix Transformation . . . . . . . . . . . . . . . . . 40
2.5 Specific Vector Transformations . . . . . . . . . . . . . . . . 41
2.5.1 Plane Rotations . . . . . . . . . . . . . . . . . . . . 41
2.5.2 Transformation: ECEF to Tangent Plane . . . . . . 42
2.5.3 Transformation: ECEF to Geographic . . . . . . . . 44
2.5.4 Transformation: Vehicle to Navigation Frame . . . . 46
2.5.5 Transformation: Orthogonal Small Angle . . . . . . 50
2.6 Rotating Reference Frames . . . . . . . . . . . . . . . . . . 51
2.6.1 Direction Cosine Kinematics . . . . . . . . . . . . . 51
2.6.2 Derivative Calculations in Rotation Frames . . . . . 53
2.7 Calculation of the Direction Cosine . . . . . . . . . . . . . . 54
2.7.1 Direction Cosine Derivatives . . . . . . . . . . . . . 55
2.7.2 Euler Angle Derivatives . . . . . . . . . . . . . . . . 56
2.8 References and Further Reading . . . . . . . . . . . . . . . . 58
2.9 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3 Deterministic Systems 63
3.1 Continuous-Time SystemsModels . . . . . . . . . . . . . . 63
3.1.1 Ordinary Differential Equations . . . . . . . . . . . . 64
3.1.2 Transfer Functions . . . . . . . . . . . . . . . . . . . 65
3.1.3 State Space . . . . . . . . . . . . . . . . . . . . . . . 66
3.2 State Augmentation . . . . . . . . . . . . . . . . . . . . . . 69
3.3 State Space Linearization . . . . . . . . . . . . . . . . . . . 72
3.4 Discrete-Time State Space Notation . . . . . . . . . . . . . 74
3.5 State Space Analysis . . . . . . . . . . . . . . . . . . . . . . 74
3.5.1 Similarity Transformation . . . . . . . . . . . . . . . 75
3.5.2 State Space to Transfer Function . . . . . . . . . . . 76
3.5.3 State TransitionMatrix Properties . . . . . . . . . . 79
3.5.4 Linear Time-Invariant Systems . . . . . . . . . . . . 80
3.5.5 Discrete-Time EquivalentModels . . . . . . . . . . . 81
3.6 State Estimation . . . . . . . . . . . . . . . . . . . . . . . . 82
3.6.1 Observability . . . . . . . . . . . . . . . . . . . . . . 85
3.6.2 Estimator Design by Pole Placement . . . . . . . . . 87
3.6.3 Observable Subspace . . . . . . . . . . . . . . . . . . 92
3.7 References and Further Reading . . . . . . . . . . . . . . . . 95
3.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
CONTENTS ix
4 Stochastic Processes 105
4.1 Basic Stochastic Process Concepts . . . . . . . . . . . . . . 105
4.1.1 Examples . . . . . . . . . . . . . . . . . . . . . . . . 106
4.1.2 Plan of Study . . . . . . . . . . . . . . . . . . . . . . 110
4.2 Scalar RandomVariables . . . . . . . . . . . . . . . . . . . 110
4.2.1 Basic Properties . . . . . . . . . . . . . . . . . . . . 110
4.2.2 Gaussian Distributions . . . . . . . . . . . . . . . . . 112
4.2.3 Transformations of Scalar RandomVariables . . . . 113
4.3 Multiple RandomVariables . . . . . . . . . . . . . . . . . . 115
4.3.1 Basic Properties . . . . . . . . . . . . . . . . . . . . 115
4.3.2 Statistics and Statistical Properties . . . . . . . . . . 117
4.3.3 Vector Gaussian RandomVariables . . . . . . . . . . 120
4.3.4 Transformations of Vector RandomVariables . . . . 120
4.4 Stochastic Processes . . . . . . . . . . . . . . . . . . . . . . 121
4.4.1 Statistics and Statistical Properties . . . . . . . . . . 121
4.4.2 White and Colored Noise . . . . . . . . . . . . . . . 123
4.5 Linear Systems with Random Inputs . . . . . . . . . . . . . 125
4.6 State Models for Stochastic Processes . . . . . . . . . . . . 130
4.6.1 StandardModel . . . . . . . . . . . . . . . . . . . . 131
4.6.2 Stochastic Systems and State Augmentation. . . . . 132
4.6.3 Gauss-Markov Processes . . . . . . . . . . . . . . . . 133
4.6.4 Time-propagation of the Mean . . . . . . . . . . . . 139
4.6.5 Time-propagation of the Variance . . . . . . . . . . 139
4.7 Discrete-time EquivalentModels . . . . . . . . . . . . . . . 140
4.7.1 Calculation of Φk from F(t) . . . . . . . . . . . . . . 140
4.7.2 Calculation of Qdk from Q(t) . . . . . . . . . . . . . 141
4.8 Linear State Estimation . . . . . . . . . . . . . . . . . . . . 144
4.9 Detailed Examples . . . . . . . . . . . . . . . . . . . . . . . 146
4.9.1 SystemPerformanceMetrics . . . . . . . . . . . . . 146
4.9.2 Instrument Specifications . . . . . . . . . . . . . . . 154
4.9.3 One Dimensional INS . . . . . . . . . . . . . . . . . 157
4.9.4 One Dimensional Position Aided INS . . . . . . . . . 159
4.10 Complementary Filtering . . . . . . . . . . . . . . . . . . . 161
4.11 References and Further Reading . . . . . . . . . . . . . . . . 162
4.12 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
5 Optimal State Estimation 169
5.1 State Estimation: Review . . . . . . . . . . . . . . . . . . . 170
5.2 MinimumVariance Gain Derivation . . . . . . . . . . . . . 172
5.2.1 Kalman Gain Derivation . . . . . . . . . . . . . . . . 172
5.2.2 Kalman Gain: Posterior Covariance . . . . . . . . . 173
5.2.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . 173
5.3 From WLS to the Kalman Filter . . . . . . . . . . . . . . . 174
5.3.1 Weighted Least Squares (WLS) . . . . . . . . . . . . 174
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5.3.2 Weighted Least Squares Solution . . . . . . . . . . . 175
5.3.3 Recursive Least Squares (RLS) . . . . . . . . . . . . 179
5.3.4 Kalman Filtering . . . . . . . . . . . . . . . . . . . . 183
5.4 Kalman Filter Derivation Summary . . . . . . . . . . . . . 184
5.4.1 EquivalentMeasurement Updates . . . . . . . . . . 186
5.4.2 Equivalent CovarianceMeasurement Updates . . . . 187
5.4.3 Kalman Filter Examples . . . . . . . . . . . . . . . . 187
5.5 Kalman Filter Properties . . . . . . . . . . . . . . . . . . . 189
5.6 Implementation Issues . . . . . . . . . . . . . . . . . . . . . 191
5.6.1 Scalar Measurement Processing . . . . . . . . . . . . 191
5.6.2 CorrelatedMeasurements . . . . . . . . . . . . . . . 193
5.6.3 Bad orMissing Data . . . . . . . . . . . . . . . . . . 194
5.7 Implementation Sequence . . . . . . . . . . . . . . . . . . . 195
5.8 AsynchronousMeasurements . . . . . . . . . . . . . . . . . 195
5.9 Numeric Issues . . . . . . . . . . . . . . . . . . . . . . . . . 196
5.9.1 CovarianceMatrix Symmetry . . . . . . . . . . . . . 196
5.9.2 CovarianceMatrix Positive Definiteness . . . . . . . 197
5.10 Suboptimal Filtering . . . . . . . . . . . . . . . . . . . . . . 197
5.10.1 Deleting States . . . . . . . . . . . . . . . . . . . . . 198
5.10.2 Schmidt-Kalman Filtering . . . . . . . . . . . . . . . 199
5.10.3 Decoupling . . . . . . . . . . . . . . . . . . . . . . . 202
5.10.4 Off-line Gain Calculation . . . . . . . . . . . . . . . 202
5.10.5 Nonlinear Filtering . . . . . . . . . . . . . . . . . . . 203
5.11 References and Further Reading . . . . . . . . . . . . . . . . 211
5.12 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
6 Performance Analysis 217
6.1 Covariance Analysis . . . . . . . . . . . . . . . . . . . . . . 217
6.2 Monte Carlo Analysis . . . . . . . . . . . . . . . . . . . . . 224
6.3 Error Budgeting . . . . . . . . . . . . . . . . . . . . . . . . 224
6.4 Covariance Divergence . . . . . . . . . . . . . . . . . . . . . 230
6.5 References and Further Reading . . . . . . . . . . . . . . . . 232
6.6 Exercise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
7 Navigation System Design 235
7.1 Methodology Summary . . . . . . . . . . . . . . . . . . . . 235
7.2 Methodology: Detailed Example . . . . . . . . . . . . . . . 237
7.2.1 Augmented KinematicModel . . . . . . . . . . . . . 238
7.2.2 NavigationMechanization Equations . . . . . . . . . 238
7.2.3 SensorModels . . . . . . . . . . . . . . . . . . . . . 239
7.2.4 ErrorModels . . . . . . . . . . . . . . . . . . . . . . 240
7.2.5 State Estimator Design . . . . . . . . . . . . . . . . 240
7.2.6 Covariance Analysis . . . . . . . . . . . . . . . . . . 244
7.3 Complementary Filtering . . . . . . . . . . . . . . . . . . . 247
CONTENTS xi
7.3.1 Frequency Domain Approach . . . . . . . . . . . . . 248
7.3.2 Kalman Filter Approach . . . . . . . . . . . . . . . . 250
7.4 An Alternative Approach . . . . . . . . . . . . . . . . . . . 251
7.4.1 Total State: KinematicModel . . . . . . . . . . . . . 252
7.4.2 Total State: Time Update . . . . . . . . . . . . . . . 252
7.4.3 Total State: Measurement Update . . . . . . . . . . 253
7.5 Approach Comparison . . . . . . . . . . . . . . . . . . . . . 254
7.6 A Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
7.7 References and Further Reading . . . . . . . . . . . . . . . . 256
7.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
II Application 259
Part II Overview 261
8 Global Positioning System 263
8.1 GPS Overview . . . . . . . . . . . . . . . . . . . . . . . . . 264
8.1.1 GPS System . . . . . . . . . . . . . . . . . . . . . . 264
8.1.2 Original GPS Signal . . . . . . . . . . . . . . . . . . 265
8.2 GPS Pseudorange . . . . . . . . . . . . . . . . . . . . . . . 266
8.2.1 GPS Pseudorange Notation . . . . . . . . . . . . . . 267
8.2.2 GPS Pseudorange Solution . . . . . . . . . . . . . . 269
8.2.3 Satellite Azimuth and Elevation . . . . . . . . . . . 273
8.3 GPS Receiver Overview . . . . . . . . . . . . . . . . . . . . 276
8.3.1 Carrier Phase Observables . . . . . . . . . . . . . . . 277
8.3.2 Delta Pseudorange Observable . . . . . . . . . . . . 278
8.4 GPS URE Characteristics . . . . . . . . . . . . . . . . . . . 280
8.4.1 Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.4.2 Satellite Clock Bias, cδts . . . . . . . . . . . . . . . 282
8.4.3 Receiver Clock Error, Δτr . . . . . . . . . . . . . . . 283
8.4.4 Atmospheric Delay, cδts
a . . . . . . . . . . . . . . . . 287
8.4.5 Ephemeris Errors, Es . . . . . . . . . . . . . . . . . 292
8.4.6 Selective Availability, SAs . . . . . . . . . . . . . . . 293
8.4.7 Multipath, Ms
ρ , Ms
φ . . . . . . . . . . . . . . . . . . 294
8.4.8 Receiver Noise, ηiρ
, ηiφ
. . . . . . . . . . . . . . . . . 295
8.4.9 Carrier Tracking and Integer Ambiguity, Ni . . . . . 295
8.4.10 Summary . . . . . . . . . . . . . . . . . . . . . . . . 301
8.5 Geometric Dilution of Precision . . . . . . . . . . . . . . . . 302
8.6 Two Frequency Receivers . . . . . . . . . . . . . . . . . . . 306
8.6.1 Wide and Narrow Lane Observables . . . . . . . . . 309
8.7 Carrier-Smoothed Code . . . . . . . . . . . . . . . . . . . . 310
8.8 Differential GPS . . . . . . . . . . . . . . . . . . . . . . . . 312
8.8.1 Relative DGPS . . . . . . . . . . . . . . . . . . . . . 313
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8.8.2 Differential GPS . . . . . . . . . . . . . . . . . . . . 317
8.8.3 Double Differences . . . . . . . . . . . . . . . . . . . 323
8.9 Integer Ambiguity Resolution . . . . . . . . . . . . . . . . . 325
8.9.1 Decreasing the Search Space . . . . . . . . . . . . . 328
8.9.2 Selection of Optimal Integers . . . . . . . . . . . . . 329
8.9.3 Modernized GPS Signal . . . . . . . . . . . . . . . . 331
8.10 GPS Summary . . . . . . . . . . . . . . . . . . . . . . . . . 332
8.11 References and Further Reading . . . . . . . . . . . . . . . . 333
9 GPS Aided Encoder-Based Dead-Reckoning 335
9.1 EncoderModel . . . . . . . . . . . . . . . . . . . . . . . . . 336
9.2 KinematicModel . . . . . . . . . . . . . . . . . . . . . . . . 338
9.3 Encoder Navigation Equations . . . . . . . . . . . . . . . . 340
9.3.1 Continuous-Time: Theory . . . . . . . . . . . . . . . 340
9.3.2 Discrete-Time: Implementation . . . . . . . . . . . . 341
9.4 Error State DynamicModel . . . . . . . . . . . . . . . . . . 341
9.5 GPS Aiding . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
9.5.1 Receiver Clock Modeling . . . . . . . . . . . . . . . . 343
9.5.2 Measurement Differencing . . . . . . . . . . . . . . . 344
9.5.3 Comparison . . . . . . . . . . . . . . . . . . . . . . . 345
9.6 Performance Analysis . . . . . . . . . . . . . . . . . . . . . 346
9.6.1 Observability . . . . . . . . . . . . . . . . . . . . . . 346
9.6.2 Covariance Analysis . . . . . . . . . . . . . . . . . . 348
9.7 General 3-d Problem . . . . . . . . . . . . . . . . . . . . . . 351
10 AHRS 353
10.1 KinematicModel . . . . . . . . . . . . . . . . . . . . . . . . 354
10.2 SensorModels . . . . . . . . . . . . . . . . . . . . . . . . . . 355
10.3 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . 356
10.3.1 State Initialization: Approach 1 . . . . . . . . . . . . 356
10.3.2 State Initialization: Approach 2 . . . . . . . . . . . . 358
10.4 AHRSMechanization Equations . . . . . . . . . . . . . . . 358
10.5 ErrorModels . . . . . . . . . . . . . . . . . . . . . . . . . . 359
10.5.1 Measurement ErrorModel . . . . . . . . . . . . . . . 360
10.5.2 Attitude Error Dynamics . . . . . . . . . . . . . . . 363
10.5.3 AHRS State Space ErrorModel . . . . . . . . . . . . 365
10.5.4 Measurement Noise Covariance . . . . . . . . . . . . 366
10.5.5 Initial Error CovarianceMatrix . . . . . . . . . . . . 367
10.6 AHRS Approach Summary . . . . . . . . . . . . . . . . . . 368
10.7 Observability and Performance Analysis . . . . . . . . . . . 369
10.8 Pitch and Roll Application . . . . . . . . . . . . . . . . . . 370
10.9 References and Further Reading . . . . . . . . . . . . . . . . 377
CONTENTS xiii
11 Aided Inertial Navigation 379
11.1 Gravitation and Specific Force . . . . . . . . . . . . . . . . 379
11.1.1 Gravitation . . . . . . . . . . . . . . . . . . . . . . . 379
11.1.2 Specific Force . . . . . . . . . . . . . . . . . . . . . . 380
11.1.3 Accelerometers . . . . . . . . . . . . . . . . . . . . . 381
11.1.4 Gravity Error . . . . . . . . . . . . . . . . . . . . . . 384
11.2 INS Kinematic Equations . . . . . . . . . . . . . . . . . . . 386
11.2.1 Inertial Frame . . . . . . . . . . . . . . . . . . . . . 388
11.2.2 ECEF Frame . . . . . . . . . . . . . . . . . . . . . . 388
11.2.3 Tangent Frame . . . . . . . . . . . . . . . . . . . . . 389
11.2.4 Geographic Frame . . . . . . . . . . . . . . . . . . . 389
11.3 INSMechanization Equations . . . . . . . . . . . . . . . . . 390
11.4 INS Error State Dynamic Equations . . . . . . . . . . . . . 392
11.4.1 Position Error Linearization . . . . . . . . . . . . . . 393
11.4.2 Attitude Error Linearization . . . . . . . . . . . . . 393
11.4.3 Velocity Error Linearization . . . . . . . . . . . . . . 395
11.5 INS Error Characteristics . . . . . . . . . . . . . . . . . . . 396
11.5.1 Simplified ErrorModels . . . . . . . . . . . . . . . . 397
11.5.2 Full ErrorModel . . . . . . . . . . . . . . . . . . . . 399
11.6 Augmented State Equations . . . . . . . . . . . . . . . . . . 406
11.6.1 Instrument Error Overview . . . . . . . . . . . . . . 407
11.6.2 Accelerometer Error Modeling . . . . . . . . . . . . 408
11.6.3 Gyro ErrorModeling . . . . . . . . . . . . . . . . . . 411
11.6.4 Error Characteristics . . . . . . . . . . . . . . . . . . 414
11.7 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.7.1 Self-Alignment Techniques . . . . . . . . . . . . . . . 416
11.8 AidingMeasurements . . . . . . . . . . . . . . . . . . . . . 421
11.8.1 Position Aiding . . . . . . . . . . . . . . . . . . . . . 421
11.8.2 GPS Pseudorange Aiding . . . . . . . . . . . . . . . 422
11.9 Observability Analysis . . . . . . . . . . . . . . . . . . . . . 427
11.9.1 Stationary, Level, Known Biases . . . . . . . . . . . 428
11.9.2 Stationary, Level, Unknown Biases . . . . . . . . . . 429
11.10References and Further Reading . . . . . . . . . . . . . . . . 430
12 LBL and Doppler Aided INS 431
12.1 Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
12.1.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . 432
12.1.2 SystemKinematics . . . . . . . . . . . . . . . . . . . 433
12.2 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
12.2.1 InertialMeasurement Unit . . . . . . . . . . . . . . 434
12.2.2 Attitude and Yaw Sensor . . . . . . . . . . . . . . . 435
12.2.3 Doppler Velocity Log . . . . . . . . . . . . . . . . . . 436
12.2.4 Pressure Sensor . . . . . . . . . . . . . . . . . . . . . 436
12.2.5 Long Baseline Transceiver . . . . . . . . . . . . . . . 436
xiv CONTENTS
12.3 Mechanization and IMU Processing . . . . . . . . . . . . . . 438
12.3.1 Mechanization Equations . . . . . . . . . . . . . . . 438
12.3.2 IMU Processing . . . . . . . . . . . . . . . . . . . . . 438
12.4 Error State DynamicModel . . . . . . . . . . . . . . . . . . 439
12.4.1 Position ErrorModel . . . . . . . . . . . . . . . . . . 439
12.4.2 Velocity ErrorModel . . . . . . . . . . . . . . . . . . 440
12.4.3 Attitude ErrorModel . . . . . . . . . . . . . . . . . 441
12.4.4 Calibration Parameter ErrorModels . . . . . . . . . 442
12.4.5 ErrorModel Summary . . . . . . . . . . . . . . . . . 442
12.5 AidingMeasurementModels . . . . . . . . . . . . . . . . . 443
12.5.1 Attitude and Yaw Prediction . . . . . . . . . . . . . 443
12.5.2 Doppler Prediction . . . . . . . . . . . . . . . . . . . 444
12.5.3 Depth Prediction . . . . . . . . . . . . . . . . . . . . 445
12.5.4 LBL Prediction . . . . . . . . . . . . . . . . . . . . . 445
12.6 EKF Sensor Integration . . . . . . . . . . . . . . . . . . . . 446
12.6.1 Measurement Updates for t ∈ [t0, t4] . . . . . . . . . 447
12.6.2 Measurement Updates for t ∈ [t0, t4] . . . . . . . . . 448
12.6.3 Covariance Propagation . . . . . . . . . . . . . . . . 449
12.7 Observability . . . . . . . . . . . . . . . . . . . . . . . . . . 449
12.8 Simulation Performance . . . . . . . . . . . . . . . . . . . . 452
A Notation 455
A.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
A.2 Useful Constants . . . . . . . . . . . . . . . . . . . . . . . . 457
A.3 Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
A.4 Other Notation . . . . . . . . . . . . . . . . . . . . . . . . . 458
B Linear Algebra Review 459
B.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
B.2 Matrix and Vector Operations . . . . . . . . . . . . . . . . . 461
B.3 Independence and Determinants . . . . . . . . . . . . . . . 464
B.4 Matrix Inversion . . . . . . . . . . . . . . . . . . . . . . . . 465
B.5 Matrix Inversion Lemma . . . . . . . . . . . . . . . . . . . . 466
B.6 Eigenvalues and Eigenvectors . . . . . . . . . . . . . . . . . 467
B.7 Positive DefiniteMatrices . . . . . . . . . . . . . . . . . . . 468
B.8 Singular Value Decomposition . . . . . . . . . . . . . . . . . 469
B.9 Orthogonalization . . . . . . . . . . . . . . . . . . . . . . . 469
B.10 LU Decomposition . . . . . . . . . . . . . . . . . . . . . . . 470
B.11 UD Decomposition . . . . . . . . . . . . . . . . . . . . . . . 472
B.12Matrix Exponential . . . . . . . . . . . . . . . . . . . . . . 472
B.12.1 Power Series . . . . . . . . . . . . . . . . . . . . . . 472
B.12.2 Laplace Transform . . . . . . . . . . . . . . . . . . . 473
B.13Matrix Calculus . . . . . . . . . . . . . . . . . . . . . . . . . 474
B.13.1 Derivatives with Respect to Scalars . . . . . . . . . . 474
CONTENTS xv
B.13.2 Derivatives with Respect to Vectors . . . . . . . . . 474
B.13.3 Derivatives with Respect toMatrices . . . . . . . . . 475
B.14 Numeric Zero Finding & Optimization . . . . . . . . . . . . 475
B.14.1 Numerical Zero Finding . . . . . . . . . . . . . . . . 475
B.14.2 Numeric Optimization . . . . . . . . . . . . . . . . . 477
B.15 References and Further Reading . . . . . . . . . . . . . . . . 480
B.16 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
C Calculation of GPS Satellite Position & Velocity 485
C.1 Satellite Clock Corrections . . . . . . . . . . . . . . . . . . . 487
C.2 Satellite Position Calculations . . . . . . . . . . . . . . . . . 488
C.3 Reference Frame Consistency . . . . . . . . . . . . . . . . . 494
C.4 Satellite Velocity . . . . . . . . . . . . . . . . . . . . . . . . 495
C.4.1 Equations from Ephemeris . . . . . . . . . . . . . . . 495
C.4.2 Practical Issues . . . . . . . . . . . . . . . . . . . . . 496
C.5 IonosphericModel . . . . . . . . . . . . . . . . . . . . . . . 497
C.6 References and Further Reading . . . . . . . . . . . . . . . . 500
D Quaternions 501
D.1 Quaternions Basics . . . . . . . . . . . . . . . . . . . . . . . 501
D.2 Rotations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
D.2.1 Direction Cosine to Quaternion . . . . . . . . . . . . 504
D.2.2 Quaternions to Euler Angles . . . . . . . . . . . . . 505
D.3 Quaternion Derivative . . . . . . . . . . . . . . . . . . . . . 505
D.3.1 General Derivation . . . . . . . . . . . . . . . . . . . 505
D.3.2 Body to Navigation Frame Result . . . . . . . . . . 506
D.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
D.5 Quaternion Integration . . . . . . . . . . . . . . . . . . . . . 508
D.6 Attitude Representation Comparison . . . . . . . . . . . . . 510
D.7 References and Further Reading . . . . . . . . . . . . . . . . 511
D.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Bibliography 515
Index 527

I’m on Facebook–Now What

2008-07-24 14:51:24

书名：I’m on Facebook–Now What???: How to Get Personal, Business, and Professional Value from Facebook
作者：Jason Alba
出版：Happy About 2008
ISBN：1600050956
目录：
Contents
Foreword Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Introduction Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Chapter 1 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . 5
Navigating Facebook . . . . . . . . . . . . . . . . . . . . . . . . .8
Chapter 2 Getting Involved . . . . . . . . . . . . . . . . . . . . . . 13
Connecting with Others— Facebook Friends. . . . . .13
Facebook Groups . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Staying in Touch. . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Chapter 3 Commonly Asked Questions . . . . . . . . . . . 23
Chapter 4 Facebook Applications . . . . . . . . . . . . . . . . 31
What’s the Deal with all the Facebook
Applications Hype?. . . . . . . . . . . . . . . . . . . . . . . . . .31
How to Find Applications . . . . . . . . . . . . . . . . . . . . .35
Chapter 5 Privacy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Chapter 6 Your Facebook Strategy . . . . . . . . . . . . . . . 53
How Much Time Should I Spend on Facebook? . . .54
Chapter 7 Facebook for Business(es) . . . . . . . . . . . . . 65
Chapter 8 Facebook No-No’s . . . . . . . . . . . . . . . . . . . . 71
Facebook’s Terms of Use. . . . . . . . . . . . . . . . . . . . .74
Moral and Social No-No’s. . . . . . . . . . . . . . . . . . . . .76
Chapter 9 Additional Resources . . . . . . . . . . . . . . . . . 81
Blogs, Articles and Videos . . . . . . . . . . . . . . . . . . . .81
Recommended Books . . . . . . . . . . . . . . . . . . . . . . .84
Chapter 10 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Afterword Afterwor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Authors About the Authors . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Books Other Happy About? Books. . . . . . . . . . . . . . . . . . . 97

Supermap GIS应用与开发教程

2008-07-24 10:37:22

全书分上、下两篇共十四章。上篇重点阐述 SuperMapDeskpro2003的应用操作，主要包括：SuperMapDeskpro2003概述，数据管理，地图操作，数据编辑，空间分析，三维建模与浏览分析，专题图制作与布局；下篇重点论述SuperMapObjects2003的二次开发，主要包括 SuperMapObjects概述，工作空间控件，地图控件，空间查询与分析，拓扑控件，3D 控件和布局控件等。

arcinfo教程.rar

2008-07-18 20:52:27

arcinfo教程.rar
视频教程

Protel 99SE多层电路板设计与制作

2008-07-18 17:03:57

Signals and Systems with MATLAB Computing and Simulink Modeling 4e

2008-07-18 09:44:36

Table of Contents
1 Elementary Signals 1?1
1.1 Signals Described in Math Form .............................................................................1?1
1.2 The Unit Step Function ..........................................................................................1?2
1.3 The Unit Ramp Function ......................................................................................1?10
1.4 The Delta Function ...............................................................................................1?11
1.4.1 The Sampling Property of the Delta Function ............................................1?12
1.4.2 The Sifting Property of the Delta Function ................................................1?13
1.5 Higher Order Delta Functions...............................................................................1?14
1.6 Summary ................................................................................................................1?22
1.7 Exercises.................................................................................................................1?23
1.8 Solutions to End?of?Chapter Exercises ................................................................1?24
MATLAB Computing
Pages 1?20, 1?21
Simulink Modeling
Page 1?18
2 The Laplace Transformation 2?1
2.1 Definition of the Laplace Transformation...............................................................2?1
2.2 Properties and Theorems of the Laplace Transform ...............................................2?2
2.2.1 Linearity Property ........................................................................................2?3
2.2.2 Time Shifting Property .................................................................................2?3
2.2.3 Frequency Shifting Property ........................................................................2?4
2.2.4 Scaling Property ...........................................................................................2?4
2.2.5 Differentiation in Time Domain Property ...................................................2?4
2.2.6 Differentiation in Complex Frequency Domain Property ...........................2?6
2.2.7 Integration in Time Domain Property .........................................................2?6
2.2.8 Integration in Complex Frequency Domain Property .................................2?8
2.2.9 Time Periodicity Property ............................................................................2?8
2.2.10 Initial Value Theorem..................................................................................2?9
2.2.11 Final Value Theorem .................................................................................2?10
2.2.12 Convolution in Time Domain Property.....................................................2?11
2.2.13 Convolution in Complex Frequency Domain Property.............................2?12
2.3 The Laplace Transform of Common Functions of Time.......................................2?14
2.3.1 The Laplace Transform of the Unit Step Function ..........................2?14
2.3.2 The Laplace Transform of the Ramp Function ................................2?14
2.3.3 The Laplace Transform of ..............................................................2?15
2.3.4 The Laplace Transform of the Delta Function ................................. 2?18
2.3.5 The Laplace Transform of the Delayed Delta Function .............. 2?18
2.3.6 The Laplace Transform of .......................................................... 2?19
2.3.7 The Laplace Transform of ....................................................... 2?19
2.3.8 The Laplace Transform of ......................................................... 2?20
2.3.9 The Laplace Transform of ......................................................... 2?20
2.3.10 The Laplace Transform of ................................................. 2?21
2.3.11 The Laplace Transform of ................................................. 2?22
2.4 The Laplace Transform of Common Waveforms .................................................. 2?23
2.4.1 The Laplace Transform of a Pulse............................................................... 2?23
2.4.2 The Laplace Transform of a Linear Segment .............................................. 2?23
2.4.3 The Laplace Transform of a Triangular Waveform .................................... 2?24
2.4.4 The Laplace Transform of a Rectangular Periodic Waveform.................... 2?25
2.4.5 The Laplace Transform of a Half?Rectified Sine Waveform ..................... 2?26
2.5 Using MATLAB for Finding the Laplace Transforms of Time Functions ............ 2?27
2.6 Summary ................................................................................................................ 2?28
2.7 Exercises................................................................................................................. 2?31
The Laplace Transform of a Sawtooth Periodic Waveform ............................... 2?32
The Laplace Transform of a Full?Rectified Sine Waveform.............................. 2?32
2.8 Solutions to End?of?Chapter Exercises................................................................. 2?33
3 The Inverse Laplace Transform 3?1
3.1 The Inverse Laplace Transform Integral ..................................................................3?1
3.2 Partial Fraction Expansion........................................................................................3?1
3.2.1 Distinct Poles..................................................................................................3?2
3.2.2 Complex Poles ................................................................................................3?5
3.2.3 Multiple (Repeated) Poles..............................................................................3?8
3.3 Case where F(s) is Improper Rational Function.....................................................3?13
3.4 Alternate Method of Partial Fraction Expansion...................................................3?15
3.5 Summary .................................................................................................................3?19
3.6 Exercises..................................................................................................................3?21
3.7 Solutions to End?of?Chapter Exercises .................................................................3?22
MATLAB Computing
Pages 3?3, 3?4, 3?5, 3?6, 3?8, 3?10, 3?12, 3?13, 3?14, 3?22
4 Circuit Analysis with Laplace Transforms 4?1
4.1 Circuit Transformation from Time to Complex Frequency.................................... 4?1
4.1.1 Resistive Network Transformation ............................................................... 4?1
4.1.2 Inductive Network Transformation .............................................................. 4?1
4.1.3 Capacitive Network Transformation ............................................................ 4?1
4.2 Complex Impedance Z(s).........................................................................................4?8
4.3 Complex Admittance Y(s) .....................................................................................4?11
4.4 Transfer Functions .................................................................................................4?13
4.5 Using the Simulink Transfer Fcn Block.................................................................4?17
4.6 Summary.................................................................................................................4?20
4.7 Exercises .................................................................................................................4?21
4.8 Solutions to End?of?Chapter Exercises.................................................................4?24
MATLAB Computing
Pages 4?6, 4?8, 4?12, 4?16, 4?17, 4?18, 4?26, 4?27, 4?28, 4?29, 4?34
Simulink Modeling
Page 4?17
5 State Variables and State Equations 5?1
5.1 Expressing Differential Equations in State Equation Form................................... 5?1
5.2 Solution of Single State Equations ........................................................................ 5?6
5.3 The State Transition Matrix ................................................................................. 5?9
5.4 Computation of the State Transition Matrix ...................................................... 5?11
5.4.1 Distinct Eigenvalues ................................................................................. 5?11
5.4.2 Multiple (Repeated) Eigenvalues ............................................................. 5?15
5.5 Eigenvectors......................................................................................................... 5?18
5.6 Circuit Analysis with State Variables.................................................................. 5?22
5.7 Relationship between State Equations and Laplace Transform.......................... 5?30
5.8 Summary.............................................................................................................. 5?38
5.9 Exercises .............................................................................................................. 5?41
5.10 Solutions to End?of?Chapter Exercises .............................................................. 5?43
MATLAB Computing
Pages 5?14, 5?15, 5?18, 5?26, 5?36, 5?48, 5?51
Simulink Modeling
Pages 5?27, 5?37, 5?45
6 The Impulse Response and Convolution 6?1
6.1 The Impulse Response in Time Domain ................................................................ 6?1
6.2 Even and Odd Functions of Time .......................................................................... 6?4
6.3 Convolution ............................................................................................................ 6?7
6.4 Graphical Evaluation of the Convolution Integral................................................. 6?8
6.5 Circuit Analysis with the Convolution Integral ................................................... 6?18
6.6 Summary ............................................................................................................... 6?21
6.7 Exercises................................................................................................................ 6?23
6.8 Solutions to End?of?Chapter Exercises................................................................ 6?25
MATLAB Applications
Pages 6?12, 6?15, 6?30
7 Fourier Series 7?1
7.1 Wave Analysis......................................................................................................... 7?1
7.2 Evaluation of the Coefficients................................................................................. 7?2
7.3 Symmetry in Trigonometric Fourier Series............................................................. 7?6
7.3.1 Symmetry in Square Waveform..................................................................... 7?8
7.3.2 Symmetry in Square Waveform with Ordinate Axis Shifted........................ 7?8
7.3.3 Symmetry in Sawtooth Waveform................................................................. 7?9
7.3.4 Symmetry in Triangular Waveform............................................................... 7?9
7.3.5 Symmetry in Fundamental, Second, and Third Harmonics........................ 7?10
7.4 Trigonometric Form of Fourier Series for Common Waveforms.......................... 7?10
7.4.1 Trigonometric Fourier Series for Square Waveform................................... 7?11
7.4.2 Trigonometric Fourier Series for Sawtooth Waveform............................... 7?14
7.4.3 Trigonometric Fourier Series for Triangular Waveform ............................. 7?16
7.4.4 Trigonometric Fourier Series for Half?Wave Rectifier Waveform............. 7?17
7.4.5 Trigonometric Fourier Series for Full?Wave Rectifier Waveform.............. 7?20
7.5 Gibbs Phenomenon ............................................................................................... 7?24
7.6 Alternate Forms of the Trigonometric Fourier Series .......................................... 7?24
7.7 Circuit Analysis with Trigonometric Fourier Series............................................. 7?28
7.8 The Exponential Form of the Fourier Series........................................................ 7?31
7.9 Symmetry in Exponential Fourier Series .............................................................. 7?33
7.9.1 Even Functions ........................................................................................... 7?33
7.9.2 Odd Functions ............................................................................................ 7?34
7.9.3 Half-Wave Symmetry ................................................................................. 7?34
7.9.4 No Symmetry .............................................................................................. 7?34
7.9.5 Relation of to ................................................................................ 7?34
7.10 Line Spectra.......................................................................................................... 7?36
7.11 Computation of RMS Values from Fourier Series................................................ 7?41
7.12 Computation of Average Power from Fourier Series ........................................... 7?44
7.13 Evaluation of Fourier Coefficients Using Excel? ................................................ 7?46
7.14 Evaluation of Fourier Coefficients Using MATLAB? ........................................ 7?47
7.15 Summary............................................................................................................... 7?50
7.16 Exercises ............................................................................................................... 7?53
7.17 Solutions to End?of?Chapter Exercises ............................................................... 7?55
MATLAB Computing
Pages 7?38, 7?47
Simulink Modeling
Page 7?31
8 The Fourier Transform 8?1
8.1 Definition and Special Forms ................................................................................ 8?1
8.2 Special Forms of the Fourier Transform................................................................ 8?2
8.2.1 Real Time Functions.................................................................................. 8?3
8.2.2 Imaginary Time Functions ......................................................................... 8?6
8.3 Properties and Theorems of the Fourier Transform.............................................. 8?9
8.3.1 Linearity...................................................................................................... 8?9
8.3.2 Symmetry.................................................................................................... 8?9
8.3.3 Time Scaling............................................................................................. 8?10
8.3.4 Time Shifting............................................................................................ 8?11
8.3.5 Frequency Shifting ................................................................................... 8?11
8.3.6 Time Differentiation ................................................................................ 8?12
8.3.7 Frequency Differentiation ........................................................................ 8?13
8.3.8 Time Integration ...................................................................................... 8?13
8.3.9 Conjugate Time and Frequency Functions.............................................. 8?13
8.3.10 Time Convolution .................................................................................... 8?14
8.3.11 Frequency Convolution............................................................................ 8?15
8.3.12 Area Under ........................................................................................ 8?15
8.3.13 Area Under ...................................................................................... 8?15
8.3.14 Parseval’s Theorem................................................................................... 8?16
8.4 Fourier Transform Pairs of Common Functions.................................................. 8?18
8.4.1 The Delta Function Pair .......................................................................... 8?18
8.4.2 The Constant Function Pair .................................................................... 8?18
8.4.3 The Cosine Function Pair ........................................................................ 8?19
8.4.4 The Sine Function Pair............................................................................. 8?20
8.4.5 The Signum Function Pair........................................................................ 8?20
8.4.6 The Unit Step Function Pair .................................................................... 8?22
8.4.7 The Function Pair .................................................................... 8?24
8.4.8 The Function Pair ............................................................... 8?24
8.4.9 The Function Pair ............................................................... 8?25
8.5 Derivation of the Fourier Transform from the Laplace Transform .................... 8?25
8.6 Fourier Transforms of Common Waveforms ...................................................... 8?27
8.6.1 The Transform of ....................................... 8?27
8.6.2 The Transform of ........................................... 8?28
8.6.3 The Transform of ........... 8?29
8.6.4 The Transform of .............................. 8?30
8.6.5 The Transform of a Periodic Time Function with Period T..................... 8?31
8.6.6 The Transform of the Periodic Time Function .... 8?32
8.7 Using MATLAB for Finding the Fourier Transform of Time Functions............ 8?33
8.8 The System Function and Applications to Circuit Analysis............................... 8?34
8.9 Summary .............................................................................................................. 8?42
8.10 Exercises............................................................................................................... 8?47
8.11 Solutions to End?of?Chapter Exercises .............................................................. 8?49
MATLAB Computing
Pages 8?33, 8?34, 8?50, 8?54, 8?55, 8?56, 8?59, 8?60
9 Discrete?Time Systems and the Z Transform 9?1
9.1 Definition and Special Forms of the Z Transform............................................... 9?1
9.2 Properties and Theorems of the Z Transform...................................................... 9?3
9.2.1 Linearity ..................................................................................................... 9?3
9.2.2 Shift of in the Discrete?Time Domain ..................................... 9?3
9.2.3 Right Shift in the Discrete?Time Domain ................................................ 9?4
9.2.4 Left Shift in the Discrete?Time Domain................................................... 9?5
9.2.5 Multiplication by in the Discrete?Time Domain................................. 9?6
9.2.6 Multiplication by in the Discrete?Time Domain ........................... 9?6
9.2.7 Multiplication by and in the Discrete?Time Domain ..................... 9?6
9.2.8 Summation in the Discrete?Time Domain ............................................... 9?7
9.2.9 Convolution in the Discrete?Time Domain ............................................. 9?8
9.2.10 Convolution in the Discrete?Frequency Domain ..................................... 9?9
9.2.11 Initial Value Theorem ............................................................................... 9?9
9.2.12 Final Value Theorem............................................................................... 9?10
9.3 The Z Transform of Common Discrete?Time Functions.................................. 9?11
9.3.1 The Transform of the Geometric Sequence.............................................9?11
9.3.2 The Transform of the Discrete?Time Unit Step Function ......................9?14
9.3.3 The Transform of the Discrete?Time Exponential Sequence .................9?16
9.3.4 The Transform of the Discrete?Time Cosine and Sine Functions ..........9?16
9.3.5 The Transform of the Discrete?Time Unit Ramp Function....................9?18
9.4 Computation of the Z Transform with Contour Integration .............................9?20
9.5 Transformation Between s? and z?Domains .......................................................9?22
9.6 The Inverse Z Transform ...................................................................................9?25
9.6.1 Partial Fraction Expansion .....................................................................9?25
9.6.2 The Inversion Integral............................................................................9?32
9.6.3 Long Division of Polynomials ................................................................9?36
9.7 The Transfer Function of Discrete?Time Systems ............................................9?38
9.8 State Equations for Discrete?Time Systems ......................................................9?45
9.9 Summary.............................................................................................................9?48
9.10 Exercises .............................................................................................................9?53
9.11 Solutions to End?of?Chapter Exercises.............................................................9?55
MATLAB Computing
Pages 9?35, 9?37, 9?38, 9?41, 9?42, 9?59, 9?61
Simulink Modeling
Page 9?44
Excel Plots
Pages 9?35, 9?44
10 The DFT and the FFT Algorithm 10?1
10.1 The Discrete Fourier Transform (DFT) ............................................................10?1
10.2 Even and Odd Properties of the DFT................................................................10?9
10.3 Common Properties and Theorems of the DFT ..............................................10?10
10.3.1 Linearity ...............................................................................................10?10
10.3.2 Time Shift ............................................................................................10?11
10.3.3 Frequency Shift....................................................................................10?12
10.3.4 Time Convolution ...............................................................................10?12
10.3.5 Frequency Convolution .......................................................................10?13
10.4 The Sampling Theorem ...................................................................................10?13
10.5 Number of Operations Required to Compute the DFT ..................................10?16
10.6 The Fast Fourier Transform (FFT)..................................................................10?17
10.7 Summary...........................................................................................................10?28
10.8 Exercises ...........................................................................................................10?31
10.9 Solutions to End?of?Chapter Exercises...........................................................10?33
MATLAB Computing
Pages 10?5, 10?7, 10?34
Excel Analysis ToolPak
Pages 10?6, 10?8
11 Analog and Digital Filters
11.1 Filter Types and Classifications......................................................................... 11?1
11.2 Basic Analog Filters........................................................................................... 11?2
11.2.1 RC Low?Pass Filter ............................................................................... 11?2
11.2.2 RC High?Pass Filter .............................................................................. 11?4
11.2.3 RLC Band?Pass Filter.............................................................................11?7
11.2.4 RLC Band?Elimination Filter ................................................................11?8
11.3 Low?Pass Analog Filter Prototypes ..................................................................11?10
11.3.1 Butterworth Analog Low?Pass Filter Design .......................................11?14
11.3.2 Chebyshev Type I Analog Low?Pass Filter Design..............................11?25
11.3.3 Chebyshev Type II Analog Low?Pass Filter Design ............................11?38
11.3.4 Elliptic Analog Low?Pass Filter Design ...............................................11?39
11.4 High?Pass, Band?Pass, and Band?Elimination Filter Design..........................11?41
11.5 Digital Filters ....................................................................................................11?51
11.6 Digital Filter Design with Simulink..................................................................11?70
11.6.1 The Direct Form I Realization of a Digital Filter.................................11?70
11.6.2 The Direct Form II Realization of a Digital Filter................................11?71
11.6.3 The Series Form Realization of a Digital Filter ....................................11?73
11.6.4 The Parallel Form Realization of a Digital Filter .................................11?75
11.6.5 The Digital Filter Design Block............................................................11?78
11.7 Summary...........................................................................................................11?87
11.8 Exercises ...........................................................................................................11?91
11.9 Solutions to End?of?Chapter Exercises ...........................................................11?97
MATLAB Computing
Pages 11?3, 11?4, 11?6, 11?7, 11?9, 11?15, 11?19, 11?23, 11?24, 11?31,
11?35, 11?36, 11?37, 11?38, 11?40, 11?41, 11?42, 11?43, 11?45, 11?46,
11?48, 11?50, 11?55, 11?56, 11?57, 11?60, 11?62, 11?64, 11?67, 11?68,
and 11?97 through 11?106
Simulink Modeling
Pages 11?71, 11?74, 11?77, 11?78, 11?80, 11?82, 11?83, 11?84
A Introduction to MATLAB A?1
A.1 MATLAB? and Simulink?........................................................................... A?1
A.2 Command Window ......................................................................................... A?1
A.3 Roots of Polynomials ....................................................................................... A?3
A.4 Polynomial Construction from Known Roots ................................................. A?4
A.5 Evaluation of a Polynomial at Specified Values .............................................. A?6
A.6 Rational Polynomials ....................................................................................... A?8
A.7 Using MATLAB to Make Plots..................................................................... A?10
A.8 Subplots ......................................................................................................... A?18
A.9 Multiplication, Division, and Exponentiation .............................................. A?18
A.10 Script and Function Files .............................................................................. A?26
A.11 Display Formats ............................................................................................. A?31
MATLAB Computing
Pages A?3 through A?8, A?10, A?13, A?14, A?16, A?17,
A?21, A?22, A?24, A?27
B Introduction to Simulink B?1
B.1 Simulink and its Relation to MATLAB............................................................. B?1
B.2 Simulink Demos ............................................................................................... B?20
MATLAB Computing
Page B?4
Simulink Modeling
Pages B?7, B?12, B?14, B?18
C A Review of Complex Numbers C?1
C.1 Definition of a Complex Number.......................................................................C?1
C.2 Addition and Subtraction of Complex Numbers ...............................................C?2
C.3 Multiplication of Complex Numbers..................................................................C?3
C.4 Division of Complex Numbers ...........................................................................C?4
C.5 Exponential and Polar Forms of Complex Numbers..........................................C?4
MATLAB Computing
Pages C?6, C?7, C?8
Simulink Modeling
Page C?7
D Matrices and Determinants D?1
D.1 Matrix Definition.............................................................................................D?1
D.2 Matrix Operations ...........................................................................................D?2
D.3 Special Forms of Matrices................................................................................D?6
D.4 Determinants .................................................................................................D?10
D.5 Minors and Cofactors ....................................................................................D?12
D.6 Cramer’s Rule ................................................................................................D?17
D.7 Gaussian Elimination Method.......................................................................D?19
D.8 The Adjoint of a Matrix ................................................................................D?21
D.9 Singular and Non?Singular Matrices ............................................................D?21
D.10 The Inverse of a Matrix .................................................................................D?22
D.11 Solution of Simultaneous Equations with Matrices ......................................D?24
D.12 Exercises.........................................................................................................D?31
MATLAB Computing
Pages D?3, D?4, D?5, D?7, D?8, D?9, D?10,
D?12, D?19, D?23, D?27, D?29
Simulink Modeling
Page D?3
Excel Spreadsheet
Page D?28
E Window Functions E?1
E.1 Window Function Defined .................................................................................. E?1
E.2 Common Window Functions............................................................................... E?1
E.2.1 Rectangular Window Function ................................................................. E?2
E.2.2 Triangular Window Function.................................................................... E?5
E.2.3 Hanning Window Function....................................................................... E?7
E.2.4 Hamming Window Function..................................................................... E?9
E.2.5 Blackman Window Function................................................................... E?12
E.2.6 Kaiser Family of Window Functions ....................................................... E?14
E.3 Other Window Functions .................................................................................. E?15
E.4 Fourier Series Method for Approximating an FIR Amplitude Response .......... E?17
References R?1
Index IN?1

ArcSDE轻松入门

2008-07-12 00:06:57

本入门指南用于轻松快速了解 ArcSDE，只涉及基本的 ArcSDE 的概念和工作方法。我们假设用户在阅读本指南前应已具备以下知识： z 理解ArcGIS的概念，会使用ArcMap和ArcCatalog z 对Geodatabase、Coverage、shapefile有简单了解

ArcGIS Server轻松入门

2008-07-11 23:59:13

通过阅读本学习手册，让用户能够迅速了解ArcGIS Server的体系结构，了解ArcGIS Server能完成哪些任务、达到什么样的效果，掌握如何安装ArcGIS Server，如何搭建基于.Net 的开发环境，并能够利用向导开发简单的 WebGIS应用程序，获取解决问题的途径，为用户的进一步深入开发指导方向，提供深入学习的方式和渠道。

ArcGIS Engine轻松入门

2008-07-11 23:04:06

开发人员可以使用ArcGIS Engine的开发包实现如下功能：
分图层显示专题图，例如：道路，河流，行政边界等。
浏览、缩放地图
查看地图上特征要素的信息
在地图上检索、查找特征要素
在地图上显示文本注记
在地图上叠加卫星影像或航摄影像
在地图上绘制点、线、面几何体
通过矩形、圆形或多边形来选中地图上的要素
通过SQL语句来查找要素
使用各种渲染方式来绘制地图图层，例如：分级渲染，柱状图渲染，点密度渲染，依比例尺渲染等。
动态绘制实时的数据，例如实时的GPS坐标点。
转换空间数据的坐标系。

ArcGIS Desktop轻松入门

2008-07-11 22:35:52

著名的GIS软件公司ESRI的ArcGIS Desktop软件的入门级教材，很适合初学者试用，通过本书可以了解ArcGIS Desktop 的组成与功能，熟悉使用ArcGIS Desktop进行数据编辑、整饰和输出的流程，了解如何使用ArcGIS Desktop进行简单的空间分析和数据处理等；

Wiley Virtualization for Dummies Sun and AMD Special Edition

2008-07-11 06:20:02

Introduction
Virtualization is the latest in a long line of technical innovations
designed to increase the level of system abstraction
and enable IT users to harness ever-increasing levels of
computer performance.
At its simplest level, virtualization allows you, virtually and
cost-effectively, to have two or more computers, running two
or more completely different environments, on one piece of
hardware. For example, with virtualization, you can have both
a Linux machine and a Windows machine on one system.
Alternatively, you could host a Windows 95 desktop and a
Windows XP desktop on one workstation.
In slightly more technical terms, virtualization essentially
decouples users and applications from the specific hardware
characteristics of the systems they use to perform computational
tasks. This technology promises to usher in an entirely
new wave of hardware and software innovation. For example,
and among other benefits, virtualization is designed to simplify
system upgrades (and in some cases may eliminate the
need for such upgrades), by allowing users to capture the
state of a virtual machine (VM), and then transport that state
in its entirety from an old to a new host system.
Virtualization is also designed to enable a generation of more
energy-efficient computing. Processor, memory, and storage
resources that today must be delivered in fixed amounts
determined by real hardware system configurations will be
delivered with finer granularity via dynamically tuned VMs.
About This Book
Virtualization For Dummies, Sun and AMD Special Edition
explains how virtualization works and how it can benefit your
organization. The book covers the kinds of issues virtualization
can address and how it addresses them.
2 Virtualization For Dummies, Sun and AMD Special Edition
Icons Used in This Book
In the margins of this book, you find several helpful little icons
that can make your journey a little easier:
This icon flags information that you should pay attention to.
This icon lets you know that the accompanying text explains
some technical information in detail. You don’t need to know
this stuff to get what you need from the book, but it may be
interesting.
A Tip icon lets you know some practical information that can
really help you out is on the way. These tips can help save you
time, effort, or money.

Chapter 1 Wrapping Your Head around Virtualization
Chapter 2 Understanding AMD Virtualization!
Chapter 3 Looking into AMD’s Virtualization Initiatives
Chapter 4 Making Servers Virtualization-Ready
Chapter 5 Managing Virtualization End-to-End
Chapter 6 Ten Steps to Virtualization Success

The LabVIEW Style book

2008-07-04 16:42:24

Contents
Copyright ................................................................................................................................................................ 1
Dedication ........................................................................................................................................................... 2
Foreword ................................................................................................................................................................. 6
Preface .................................................................................................................................................................... 7
Intended Reader ................................................................................................................................................. 7
Organization ....................................................................................................................................................... 7
Endnotes ............................................................................................................................................................. 8
Acknowledgments .................................................................................................................................................. 9
About the Author .................................................................................................................................................. 11
1. The Significance of Style .................................................................................................................................. 12
1.1. Style Significance ....................................................................................................................................... 12
Theorem 1.1 ................................................................................................................................................. 12
Equation 1.1 ................................................................................................................................................. 22
1.2. Style Versus Time Tradeoff ........................................................................................................................ 27
Definition 1.1 ................................................................................................................................................ 27
Theorem 1.2 ................................................................................................................................................. 28
2. Prepare for Good Style ..................................................................................................................................... 29
2.1. Specifications ............................................................................................................................................ 29
Theorem 2.1 ................................................................................................................................................. 30
Theorem 2.2 ................................................................................................................................................. 30
2.2. Design ........................................................................................................................................................ 36
2.3. Configure the LabVIEW Environment ........................................................................................................ 39
2.4. Project Organization, File Naming, and Control ........................................................................................ 46
Endnotes ........................................................................................................................................................... 54
3. Front Panel Style .............................................................................................................................................. 56
3.1. Layout ........................................................................................................................................................ 57
3.2. Text ............................................................................................................................................................ 70
3.3. Color .......................................................................................................................................................... 78
3.4. GUI Navigation .......................................................................................................................................... 80
Theorem 3.1 ................................................................................................................................................. 80
3.5. Examples ................................................................................................................................................... 84
Endnotes ........................................................................................................................................................... 94
4. Block Diagram .................................................................................................................................................. 95
Theorem 4.1 ................................................................................................................................................. 95
4.1. Layout ........................................................................................................................................................ 95
Cohesion Test ............................................................................................................................................... 98
4.2. Wiring ...................................................................................................................................................... 100
4.3. Data Flow ................................................................................................................................................. 108
4.4. Examples ................................................................................................................................................. 122
Endnotes ......................................................................................................................................................... 132
5. Icon and Connector ........................................................................................................................................ 133
5.1. Icon .......................................................................................................................................................... 135 3
5.2. Connector Pane ....................................................................................................................................... 143
5.3. Examples ................................................................................................................................................. 149
Endnotes ......................................................................................................................................................... 159
6. Data Structures ............................................................................................................................................... 160
Theorem 6‐1 ............................................................................................................................................... 160
6.1. Data Structure Design Methodology ....................................................................................................... 160
6.2. Simple Data Types ................................................................................................................................... 174
6.3. Data Constructs ....................................................................................................................................... 183
6.4. Examples ................................................................................................................................................. 195
Endnotes ......................................................................................................................................................... 203
7. Error Handling ................................................................................................................................................ 204
Theorem 7.1 ............................................................................................................................................... 204
7.1. Error Handling Basics ............................................................................................................................... 204
7.2. SubVI Error Handling ............................................................................................................................... 218
7.3. Prioritizing Errors .................................................................................................................................... 222
7.4. Error Handling Tips .................................................................................................................................. 226
7.5. Examples ................................................................................................................................................. 230
Endnotes ......................................................................................................................................................... 238
8. Design Patterns .............................................................................................................................................. 239
8.1. Simple Design Patterns ............................................................................................................................ 241
8.2. State Machines ........................................................................................................................................ 254
8.3. Compound Design Patterns ..................................................................................................................... 266
8.4. Complex Application Frameworks ........................................................................................................... 271
8.5. Examples ................................................................................................................................................. 284
Endnotes ......................................................................................................................................................... 294
9. Documentation .............................................................................................................................................. 296
Myth 9.1 ..................................................................................................................................................... 296
Theorem 9.1 ............................................................................................................................................... 296
9.1. Front Panel Documentation ..................................................................................................................... 297
9.2. Block Diagram ......................................................................................................................................... 301
9.3. Icon and VI Description ............................................................................................................................ 308
9.4. Online Documentation ............................................................................................................................. 309
9.5. Examples ................................................................................................................................................. 312
Endnotes ......................................................................................................................................................... 315
10. Code Reviews ............................................................................................................................................... 316
10.1. Self‐Reviews .......................................................................................................................................... 316
10.2. Peer Reviews ......................................................................................................................................... 332
Theorem 10.1 ............................................................................................................................................. 332
Endnotes ......................................................................................................................................................... 336
A. Glossary .......................................................................................................................................................... 338
B. Style Rules Summary ..................................................................................................................................... 354
Chapter 2 ........................................................................................................................................................ 354
Chapter 3 ........................................................................................................................................................ 354
Chapter 4 ........................................................................................................................................................ 356 4
Chapter 5 ........................................................................................................................................................ 357
Chapter 6 ........................................................................................................................................................ 358
Chapter 7 ........................................................................................................................................................ 359
Chapter 8 ........................................................................................................................................................ 360
Chapter 9 ........................................................................................................................................................ 361
Chapter 10 ...................................................................................................................................................... 361
5