“Frontmatter” The Engineering Handbook. Ed. Richard C. Dorf Boca Raton: CRC Press LLC, 2000 The Engineering Handbook Library of Congress Cataloging-in-Publication Data The engineering handbook [computer file] / Richard C. Dorf, [editor-in-chief].--CD-ROM version. 1 computer laser optical disc: 4 3/4 in. Computer data and program. System requirements: IBM PC; 8MB RAM; Windows 3.1 or higher; VGA graphics capabilities; color monitor; CD-ROM drive. Title from title screen Audience: Engineering professionals and postgraduate students. Summary: Electronic version of The Engineering Handbook. Features search capabilities, zoom option, hypertext links, line drawings, photographs, bookmark and notebook functions, and the ability to print, save, and copy information into word processing program. ISBN 0-8493-8576-8 1. Engineering--Handbooks, manual, etc. I. Dorf, Richard C. II. Engineering handbook. TA151, 1997 00577> <MRC> 620--DC12a 97-4535 CIP This CD-ROM contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. Neither this CD-ROM nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. The consent of CRC Press does not extend to copying for general distribution, for promotion, for creating new works, or for resale, nor does it extend to portions of the work taken from other sources with permission of their respective copyright holders. Specific permission must be obtained in writing from CRC Press or the copyright holder for such copying. Direct all inquiries, suggestions, or problems to CRC Press LLC, 2000 Corporate Blvd., NW, Boca Raton, Florida 33431. If there are questions or problems regarding the operation of The Engineering Handbook CD-ROM Version, call CRC Press at 561-994-0555 extension 2515 (e-mail: [email protected]). Library of Congress Card Number 97-4535 ISBN 0-8493-8576-8 © 1998 by CRC Press LLC Preface Purpose The purpose of The Engineering Handbook is to provide in a single volume a ready reference for the practicing engineer in industry, government, and academia. The book in its comprehensive format is divided into 30 sections which encompass the field of engineering. The goal is to provide the most up-to-date information in the classical fields that comprise mechanical, electrical, civil, chemical, industrial, and aerospace engineering as well as the underlying fields of mathematics and materials. This book should serve the information needs of all professional engineers engaged in the practice of the profession whether in industry, education, or government. The goal of this comprehensive handbook is to replace a myriad of books with one highly informative, well-organized, definitive source of fundamental knowledge. Organization The fundamentals of engineering have evolved to include a wide range of knowledge, substantial empirical data, and a broad range of practice. The focus of the handbook is on the key concepts, models, and equations that enable the engineer to analyze, design, and predict the behavior of complex devices, circuits, instruments, systems, structures, plants, computers, fuels, and the environment. While data and formulae are summarized, the main focus is the provision of the underlying theories and concepts and the appropriate application of these theories to the field of engineering. Thus, the reader will find the key concepts defined, described, and illustrated in order to serve the needs of the engineer over many years. With equal emphasis placed on materials, structures, mechanics, dynamics, fluids, thermodynamics, fuels and energy, transportation, environmental systems, circuits and systems, computers and instruments, manufacturing, aeronautical and aerospace, and economics and management as well as mathematics, the engineer should encounter a wide range of concepts and considerable depth of exploration of these concepts as they lead to application and design. The level of conceptual development of each topic is challenging, but tutorial and relatively fundamental. Each of the more than 200 chapters is written to enlighten the expert, refresh the knowledge of the mature engineer, and educate the novice. The information is organized into 30 major sections. The 30 sections encompass 211 chapters, and the Appendix summarizes the applicable mathematics, symbols, and physical constants. Each section contains one or more historical vignettes that serve to enliven and illuminate the history of the subject of that section. Furthermore, each section is preceded by a photo of a device, circuit, or system that demonstrates an application illustrative of the material in the section. Each chapter includes three important and useful categories: defining terms, references, and further information. Defining terms are key definitions, and the first occurrence of each term defined is indicated in boldface in the text. The definitions of these terms are summarized as a list at the end of each chapter. The references provide a list of useful books and articles for follow-up reading. Finally, further information provides some general and useful sources of additional information on the topic. Locating Your Topic Numerous avenues of access to information contained in the handbook are provided. A complete table of contents is presented at the front of the book. In addition, an individual table of contents precedes each of the 30 sections. Finally, each chapter begins with its own table of contents. The reader should look over these tables of contents to become familiar with the structure, organization, and content of the book. For example, see Section III, Dynamics and Vibration, and then Chapter 15, Forced Vibration. This tree-and-branch table of contents enables the reader to move up the tree to locate information on the topic of interest. Three alphabetical indexes have been compiled to provide multiple means of accessing information: (1) index of contributing authors, (2) index of key equations by title or name, and (3) subject index. The subject index can also be used to locate key definitions. The page on which the definition appears for each key (defining) term is clearly identified in the subject index. The Engineering Handbook is designed to provide answers to most inquiries and direct the inquirer to further sources and references. We hope that this handbook will be referred to often and that informational requirements will be satisfied effectively. Acknowledgments This handbook is testimony to the dedication of the associate editors, the publishers, and my editorial associates. I particularly wish to acknowledge at CRC Press Joel Claypool, Publisher; Kristen Maus, Developmental Editor; and Carol Whitehead,Senior Project Editor. Finally I am indebted to the assistance of Sara Hare, who served as editorial assistant. Richard C. Dorf Editor-in-Chief Editor-in-Chief Richard C. Dorf, professor of electrical and computer engineering at the University of California, Davis, teaches graduate and undergraduate courses in electrical engineering in the fields of circuits and control systems. He earned a Ph.D. in electrical engineering from the U.S. Naval Postgraduate School, an M.S. from the University of Colorado, and a B.S. from Clarkson University. Highly concerned with the discipline of engineering and its wide value to social and economic needs, he has written and lectured internationally on the contributions and advances in engineering and their value to society. Professor Dorf has extensive experience with education and industry and is professionally active in the fields of robotics, automation, electric circuits, and communications. He has served as a visiting professor at the University of Edinburgh, Scotland; the Massachusetts Institute of Technology; Stanford University; and the University of California, Berkeley. A Fellow of The Institute of Electrical and Electronics Engineers, Dr. Dorf is widely known to the profession for his Modern Control System, 7th edition (Addison-Wesley, 1995) and The International Encyclopedia of Robotics (Wiley, 1988). Dr. Dorf is also the co-author of Circuits, Devices and Systems (with Ralph Smith), 5th edition (Wiley, 1992). Dr. Dorf is the editor-in-chief of the widely recognized Electrical Engineering Handbook (CRC, 1993) and the Handbook of Manufacturing and Automation (Wiley, 1994). Advisory Board William F. Ames Frank Kreith School of Mathematics University of Colorado(Retired) Georgia Institute of Technology Boulder, Colorado Atlanta, Georgia Jack McCormac James F. Shackelford Civil Engineering Department Materials Science Clemson University University of California Clemson, South Carolina Davis, California John Steadman Klaus Timmerhaus Electrical Engineering Department Chemical Engineering Department University of Wyoming University of Colorado Laramie, Wyoming Boulder, Colorado Contributors Ramesh K. Agarwal F. Chris Alley Wichita State University Clemson University (Emeritus) Wichita, Kansas Clemson, South Carolina William F. Ames Appiah Amirtharajah Georgia Institute of Technology Georgia Institute of Technology Atlanta, Georgia Atlanta, Georgia James E. Amrhein Ted L. Anderson Masonry Institute of America Structural Reliability Technology Los Angeles, California Boulder, Colorado Thalia Anagnos Roger E. A. Arndt San Jose State University St. Anthony Falls Laboratory Palo Alto, California University of Minnesota Minneapolis, Minnesota Tung Au A. Terry Bahill Carnegie Mellon University University of Arizona Pittsburgh, Pennsylvania Tucson, Arizona Terrence W. Baird Norman Balabanian Hewlett-Packard Company University of Florida Boise, Idaho Gainesville, Florida Randall F. Barron Nelson R. Bauld, Jr. Louisiana Tech University Clemson University Ruston, Louisiana Clemson, South Carolina Yildiz Bayazitoglu Robert G. Beaves Rice University Robert Morris College Houston, Texas Coraopolis, Pennsylvania Paul A. Beck R. R. Beck Paul A. Beck & Associates U.S. Army Tank Automotive Research Development Pittsburgh, Pennsylvania and Engineering Center Warren, Michigan Richard C. Bennett Jim Bethel Swenson ProcessEquipment, Inc. Purdue University Harvey, Illinois West Lafayette, Indiana Pallab Bhattacharya Bharat Bhushan University of Michigan Ohio State University Ann Arbor, Michigan Columbus, Ohio Peter Biltoft Kenneth B. Black University of California University of Massachusetts Lawrence Livermore National Laboratory Amherst, Massachusetts Livermore, California Benjamin S. Blanchard Robert F. Boehm Virginia PolytechnicInstitute & StateUniversity University of Nevada Blacksburg, Virginia Las Vegas, Nevada Bruce W. Bomar Robert G. Bonitz University of Tennessee University of California Space Institute Davis, California Tullahoma, Tennessee Carol I. Bordas Charles Borzileri Thorp, Reed & Armstrong University of California Pittsburgh, Pennsylvania Lawrence Livermore National Laboratory Livermore, California Edwin R. Braun Donald E. Breyer University of North Carolina California State Polytechnic University Charlotte, North Carolina Pomona, California Robert Broadwater William L. Brogan Virginia Polytechnic Institute & State University University of Nevada Blacksburg, Virginia Las Vegas, Nevada George R. Buchanan R. Ben Buckner Tennessee Technological University Surveying Education Consultant Cookeville, Tennessee Johnson City, Tennessee Michael Buehrer Luis-Felipe Cabrera Virginia Polytechnic Institute & State University IBM Almaden Research Center Blacksburg, Virginia Almaden, California George Cain Shiao-Hung Chiang Georgia Institute of Technology University of Pittsburgh Atlanta, Georgia Pittsburgh, Pennsylvania William L. Chapman James M. Chavez Hughes Aircraft Company Sandia National Laboratories Tucson, Arizona Albuquerque, New Mexico Peter M. Chen Wai-Kai Chen University of Michigan University of Illinois Ann Arbor, Michigan Chicago, Illinois Tony M. Cigic Michael D. Ciletti University of BritishColumbia University of Colorado Vancouver, British Columbia, Canada Colorado Springs, Colorado William J. Cook David H. Cooke Iowa State University Power and Cogeneration Consultant Ames, Iowa 2507 Palo Pinto Drive Houston, Texas C. David Cooper William C. Corder University of Central Florida CONSOL, Inc. Orlando, Florida Pittsburgh, Pennsylvania Harold M. Cota Leon W. Couch II California Polytechnic State University University of Florida San Luis Obispo, California Gainesville, Florida Dennis J. Cronin J. B. Cropley Iowa State University Union Carbide Corporate Fellow (Retired) Ames, Iowa Scott Depot, West Virginia John N. Daigle Braja M. Das University of Mississippi California State University University, Mississippi Sacramento, California Kevin A. Delin Jacques W. Delleur Jet Propulsion Laboratory Purdue University Pasadena, California West Lafayette, Indiana Anca Deliu Bon A. DeWitt Georgia Institute of Technology University of Florida Atlanta, Georgia Gainesville, Florida Henry Domingos John F. Donovan Clarkson University McDonnell Douglas Corporation Potsdam, New York St. Louis, Missouri Anil Doradla Deepak Doraiswamy Virginia Polytechnic Institute & State University E. I. du Pont de Nemours & Co. Blacksburg, Virginia Wilmington, Delaware Richard C. Dorf C. Nelson Dorny University of California University of Pennsylvania Davis, California Philadelphia, Pennsylvania William G. Duff Stephen A. Dyer Computer Sciences Corporation Kansas State University Springfield, Virginia Manhattan, Kansas