Eee Walter Gander Jiri Htebiéek Solving Problems in Scientific Computing Using Maple and MATLAB From the reviews of previous editions: An excellent reference on undergraduate mathematical computing." American Mathematical Monthly “.., manuals for such systems (Maple and MATLAB?) tend to use trivial examples, making it difficult for new users of such systems to quickly apply their power to real problems. The authors have written a good book to address this need. ... the book is worth buying if you want guidance in applying Maple and MATLAB? to problems in the workplace ...” Computing Reviews “., The presentation is unique, and extremely interesting. | was thrilled to read this text, and to learn the powerful problem-solving skills presented by these authors. | recommend the text highly, as a learning experience, not only to engineering Students, but also to anyone interested in computation.” Mathematics of Computation For this fourth edition four new chapters have been added, Some of the chapters of the previous editions were revised using new possibilities offered by Maple and MATLAB?’. In addition, some important and interesting web pages related to Maple and MATLAB® have been added in an appendix. Moreover, the editors have created a web page for the book (www.SolvingProblems.inf.ethz.ch), where all Maple and MATLAB® programs will be available. ISBN 3-540-21127-6 987835400211273for Walter Gander Jiri Hrebicek Solving Problems in Scientific Computing = Maple and Fourth Edition ... SpringerSpringer Berlin Heidelberg New York Hong Kong London Milan Paris TokyoWalter Gander ° Jiti Htebitek Solving Problems in Scientific Computing Using Maple and MATLAB’ Fourth, Expanded and Revised Edition 2004 With 161 Figures and 12 Tables 6 SpringerWalter Gander Institute for Computational Science ETH Zentrum, HRS G 29 CH-8092 Ziirich, Switzerland il: gander@inf.ethz.ch Jitf Htebiéek Department of Information Technology Faculty of Informatics Masaryk University of Brno Botanicka 68a CZ-60200 Brno, Czech Republic e-mail: hrebicek@informatics.muni.cz Library of Congress Control Number:2004104245 LA. S.A. INV. NO. B Ag 4ulo LIBRARY The cover picture shows a plane fitted by least squares to given points (see Chapter 6) Mathematics Subject Classification (2000): 00A35, 08-04, 65Y99, 68Q40 68N15, ISBN 3-540-61793-0 Springer-Verlag Berlin Heidelberg New York ISBN 3-540-58746-2 2nd edition Springer-Verlag Berlin Heidelberg New York ISBN 3-540-61793-0 3rd edition Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereofis permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag, Violations are liable to prosecution under the German Copyright Law. MATLAB" is aregistered trademark of The MathWorks Inc. Thetrademark is being used with the written permission of The MathWorks Inc. Springer-Verlagisa part of Springer Science+Business Media springeronline.com © Springer-VerlagBerlin Heidelberg 1993, 1995,1997, 2004 Printed in Germany ‘The use of general descriptive names, registered names, trademarks etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. ‘Typesetting Camera-ready copy from the authors Printed on acid-free paper 4613142db-5 43210Preface Modern computing tools like MAPLE (a symbolic computation pack- age) and MATLAB®(a numeric and symbolic computation and visu- alization program) make it possible to use the techniques of scien- tific computing to solve realistic nontrivial problems in a classroom setting. These problems have been traditionally avoided, since the amount of work required to obtain a solution exceeded the class- room time available and the capabilities of the students. Therefore, simplified and linearized models are often used. This situation has changed, and students can be taught with real-life problems which can be solved by the powerful software tools available. This book is a collection of interesting problems which illustrate some solu- tion techniques in Scientific Computing. The solution technique for each problem is discussed and demonstrated through the use of either MAPLE or MATLAB. The problems are presented in a way such that a reader can easily extend the techniques to even more difficult problems. This book is intended for students of engineering and scientific computing. It is not an introduction to MAPLE and MATLAB. Instead, it teaches problem solving techniques through the use of examples, which are difficult real-life problems. Please review the MAPLE and MATLAB documentation for questions on how to use the software. All figures in the book were created either by using graphic com- mands of MAPLE and MATLAB or by direct use of zfig on a SUN workstation. Occasionally changes were made by Dr. S. Bartoii in the postscript files to improve the visual quality of the figures. These changes include different font sizes, line types, line thick- nesses, as well as additional comments and labels. This book was written as a collaboration between three insti- tutes: © the Department of Theoretical Physics and Astrophysics of Masaryk University, Brno, Czech Republic, © the Institute of Physics of the University of Agriculture and Forestry, Brno, Czech Republic, andvi © the Institute of Scientific Computing ETH, Ziirich, Switzer- land. The authors are indebted to the Swiss National Science Founda- tion which stimulated this collaboration through a grant from the “Oststaaten-Soforthilfeprogramm”. An additional grant from the ETH “Sonderprogramm Ostkontakte” and support from the Com- puter Science Department of ETH Ziirich made it possible for Dr. S. Bartoii to spend a year in Ziirich. He was the communication link between the two groups of authors and without him, the book would not have been produced on time. We would also like to thank Dr. L. Badoux, Austauschdienst ETH, and Prof. C.A. Zehnder, chair- man of the Computer Science Department, for their interest and support. Making our Swiss- and Czech-English understandable and cor- rect was a major problem in producing this book. This was ac- complished through an internal refereeing and proofreading process which greatly improved the quality of all articles. We had great help from Dr. Kevin Gates, Martha Gonnet, Michael Oettli, Prof. §. Leon, Prof. T. Casavant and Prof. B. Gragg during this process. We thank them all for their efforts to improve our language. Dr. U. von Matt wrote the IaTpX style file to generate the layout of our book in order to meet the requirements of the publisher. We are all very thankful for his excellent work. D. Gruntz, our MAPLE expert, gave valuable comments to all the authors and greatly improved the quality of the programs. We wish to thank him for his assistance. The programs were written using MAPLE V Release 2 and MAT- LAB 4.1, For MAPLE output we used the ASCII interface instead of the nicer XMAPLE environment. This way it was easier to in- corporate MAPLE output in the book. The programs are available in machine readable form. We are thankful to The MathWorks for helping us to distribute the software. Ziirich, September 13, 1993 Walter Gander, Jiif Hiebitek Preface to the second edition The first edition of this book has been very well received by the community, and this has made it necessary to write a second edi- tion within one year. We added the new chapters 20 and 21 and we expanded chapters 15 and 17. Some typographical errors were corrected, and we also rephrased some text. By doing so we hope to have improved our English language.vii All programs were adapted to the newest versions of the software ive. to MAPLE V Release 3 and to MATLAB Version v4. In order to simplify the production of the book we again chose the pretty print output mode for the MAPLE output. We dedicate the second edition to our late colleague Frantizek Klwaria. We all mourn for our friend, a lovely, friendly, modest person and a great scientist. Druhé vyddnt je vénovdno pamdtce naseho zesnulého kolegy Fran- tiska Klvani. Viichni vzpomindme na naseho drahého pritele, milé- ho a skromného élovéka a velkého védce. Ziirich, October 7, 1994 Walter Gander, Jiif Hiebiéek Preface to the third edition In the present edition the book has been enlarged by six new chap- ters (Chapters 22-27). Some of the previous chapters were revised: a new way to solve a system of differential equations was added to Chapter 1. Chapter 17 on free metal compression was completely rewritten. With the new approach, the compression of more general bodies can be simulated. ‘The index has been considerably enlarged and split into three parts, two of them containing all MAPLE and MATLAB commands used in this book. We are indebted to Rolf Strebel for this work. Allchapters have been adapted to the newest versions of MAPLE (Version 5 Release 4) and MATLAB 5. The calculations for MAPLE were done on Unix workstations by Standa Bartofi and RolfStrebel, who also, produced the worksheets. Notice that the order of the terms in sums and products and the order of the elements in sets is unspecified and may change from session to session. When the MAPLE commands are re-executed, one may get results in a differ- ent representation than those printed in the book. For'example, the solution of a set of equations may depend on different free parame- ters. Commands which depend on the order of previous results (like accesses to sets and expression sequences) may have to be adjusted accordingly. Since we have re-executed the MAPLE examples with Release 4, some statements have changed compared to the previous editions of this book. All MATLAB computations were performed on a PC, equipped with an Intel Pentium Pro Processor running under Windows NT 4.0 at 200 Mhz using MATLAB 5.0. We are indebted to Leonhard Jaschke for taking care of these test runs. MATLAB 5 offers new M- files for the integration of differential equations. While in the olderviii versions one had to specify an interval for the independent variable, there are now new possibilities to stop the integration process. We have made use of this new feature and simplified our codes. A criticism by some reviewers that the ASCII output of MAPLE does not look nice has been taken into consideration. We have transformed all the formulas using the MAPLE latex-command into /TpX. We thank Erwin Achermann who checked and adapted the layout. The two systems MAPLE and MATLAB seem to come closer to each other. There is the Symbolic Math Toolbox for MATLAB which can be used to call MAPLE from a MATLAB program. Also, there are plans that in the near future a similar mechanism will be available on the other side. We have not made use of the Symbolic Math Toolbox, mainly because we do want to use both systems equivalently and complementarily. The MATLAB and MAPLE programs (and worksheets) are avail- able via anonymous ftp from ftp. inf.ethz.ch! We dedicate this edition to one of our co-authors—the one with the highest seniority—Professor Heinz Schilt, the expert in Switzer- land for computing and constructing sun dials with typical Swiss precision. Zirich, March 18, 1997 Walter Gander, Jiff Hieb{éek Preface to the second printing of the third edition After the third edition was sold out the authors decided to have a second printing of the third edition with updated programs. All programs have been adapted to the newest versions : MAPLE 7 and Mart as Version 6.1.0.450 Release 12.1. The computations were performed by Stanislav Barton with the help of Dominik Gruntz and Rolf Strebel on SUN workstations at ETH. Stanislav discovered a bug in the fsolve-function of MAPLE 7. The following command is necessary in order to overcome the bug > ‘fsolve/Evalatx‘ := subs( subs=((x,y)->eval(y,x)), > eval(‘fsolve/Evalatx‘)); We thank Maplesoft for providing this workaround to that problem (see Chapter 7). This saved us from having to add a home made zerofinder to solve the equation in Section 7.4.4. Waterloo Maple has assured us that this bug will be fixed in an upcoming release of MAPLE. URL: ftp://ftp. inf .ethz.ch/pub/sof tware/SolvingProblems/ed3/ix Stanislav Barto would like to thank Petr Byron, director of Humusort, Prague (www. humusoft .cz), for providing him free ac- cess to the newest release of MATLAB. Ziirich, September 3, 2001, Walter Gander, Jiff Htebiéek Preface to the forth edition This is now the forth edition and we are happy to celebrate the 10th anniversary of this book! It has been enlarged by four new chapters (Chapters 28-31). Some of the previous chapters were revised using new possibilities offered by MAPLE and MATLAB. We would like to thank Stanislav Bartofi and Jan Peél for testing and adapting all the programs to the newest versions of the software: MAPLE 9 and MATLAB 6.5 Release 13. Stanislav Barto would like to thank Petr Byron for again providing him free access to the newest release of MATLAB. No bugs were found in the new versions — the function fsolve of MAPLE has been fixed and makes no troubles anymore in Chapter 7. We have decided to create a web page for the book. The address is www.SolvingProblems. inf.ethz.ch All MAPLE and MATLAB programs are available through this web page. The web has become a overwhelming source of information for each one of us. We felt that it would be useful to list some important and interesting web pages related to MAPLE and Mat- LAB. This information can be found in the appendix. When we started this book 10 years ago, there was not much similar material around. The world has definitely changed and one can find many interesting solved problems in scientific computing in cyber space. We are glad to have participated as pioneers in this development. Zirich, December 17, 2003, Walter Gander, Jiti H¥ebiéekList of Authors Stanislav Barton Jaroslav Buchar Ivan Daler Walter Gander Walter Gautschi Gaston Gonnet Dominik Gruntz Department of Automobile Transport and Principles of Technology Mendel Univ. of Agriculture and Forestry Brno Zemédélska 1 CZ-613 00 Brno, Czech Republic barton@mendelu.cz Department of Automobile Transport and Principles of Technology Mendel Univ. of Agriculture and Forestry Brno Zemédélské 1 CZ-613 00 Brno, Czech Republic buchar@mendelu .cz AutoCont-CZ Kounicova 67a CZ-602 00 Brno, Czech Republic ivan.daler@autocont.cz Institute of Computational Science ETH Ziirich CH-8092 Ziirich, Switzerland gander@inf.ethz.ch Department of Computer Sciences Purdue University West Lafayette, IN 47907-1398, USA wxg@cs.purdue.edu Institute of Computational Science ETH Ziirich CH-8092 Ziirich, Switzerland gonnet@inf .ethz.ch University of Applied Sciences Aargau Steinackerstr. 5 CH-5210 Brugg-Windisch, Switzerland gruntz@fh-aargau.chxii Zdenék Hakl Jiirgen Halin Leonhard Jaschke Prantidek Klvaia + Urs Oswald Urs von Matt Michael H. Oettli Jan Pesl Department of Automobile Transport and Principles of Technology Mendel Univ. of Agriculture and Forestry Brno Zemédélské. 1 CZ-613 00 Brno, Czech Republic Hak1.Zdenek@seznam.cz Institute of Energy Technology ETH Ziirich CH-8092 Ziirich, Switzerland halin@iet .mavt.ethz.ch Faculty of Informatics Masaryk University Brno Botanické 68a CZ-602 00 Brno, Czech Republic hrebicek@informatics .muni.cz Stampfenbachstrasse 67 CH-8006 Ziirich, Switzerland leonhard. jaschkeChispeed.ch Nordstrasse 292 CH-8037 Ziirich Switzerland osurs@bluewin.ch ISE Integrated Systems Engineering Inc. 111 N. Market Street Suite 800 San Jose, CA 95113, USA vonmatt@ise.ch Mathematik Kollektivversicherung Rentenanstalt /Swiss Life General Guisan-Quai 40 CH-8022 Ziirich, Switzerland Michael .Oettli@swisslife.ch Faculty of Informatics Masaryk University Brno Botanické 68a CZ-602 00 Brno, Czech Republic xpesl@informatics .muni.czTomé Pitner Heinz Schilt + Rolf Strebel Jorg Waldvogel xiii Faculty of Informatics Masaryk University Brno Botanick 68a CZ-602 00 Brno, Czech Republic tomp@informatics.muni.cz Schiitzenweg 3 CH-7074 Malix, Switzerland two. cents@gmx.ch Seminar of Applied Mathematics ETH Ziirich CH-8092 Ziirich, Switzerland joerg.waldvogel@sam.math.ethz.chContents Chapter 1. The Tractrix and Similar Curves .... . 1.1 Introduction 1.2. The Classical Tractrix 1.3 The Child and the Toy . . 1.4 The Jogger and the Dog . 1.5 Showing the Motions with MATLAB . 1.6 Jogger with Constant Velocity 1.7 Using a Moving Coordinate System . 1.7.1 Transformation for Jogger/Dog ; 1.7.2 Transformation for Child/Toy .... 2... 1.8 Examples . REC oogpeoooossedoe0bbecdeoo00KG Chapter 2. Trajectory of a eee Tennis Ball . 2.1 Introduction 2.2. MAPLE Solution 2.3. MATLAB Solution . . . 2.4 Simpler Solution for MATLAB 5 References aaa ee ee ee ee ee Chapter 3. The Illumination Problem ......... 3.1 Introduction 3.2 Finding the Minimal Illumination Point on a Road 3.3. Varying hp to Maximize the Illumination . 3.4 Optimal Illumination . . 3.5 Conclusion . References... ....--..- Chapter 4. Orbits in the Planar Three-Body Problem 4.1 Introduction 4.2 Equations of Motion in Physical Coordinates . . . . 4.3 Global Regularization an 4.4 The Pythagorean Three-Body Problem .... . 4.5 Conclusions Referencesxvi CONTENTS Chapter 5. The Internal Field in Semiconductors .. 73 5.1 Introduction... . 0.2.0... 2 ee eee eee 73 5.2 Solving a Nonlinear Poisson Equation Using MAPLE 74 5.3 MATLAB Solution . 75 References 79 Chapter 6. Some Least Squares Problems 81 6.1 Introduction 81 6.2 Fitting Lines, Rectangles and Squares inthe Plane 81 63 Fitting Hyperplanes 93 References... 2.0.20... 0202s eee see 99 Chapter 7. The Generalized Billiard Problem .... 101 (a) Jill a onan onoanenogoocd sou 101 7.2 The Generalized Reflection Method 101 7.2.1 Line and Curve Reflection . . 102 7.2.2 Mathematical Description 103 7.2.3 MAPLE Solution ...... 7.3 The Shortest Trajectory Method . 7.3.1 MAPLE Solution ...... 74 Examples ...........0.5 74.1 The Circular Billiard Table ......... 106 7.4.2 The Elliptical Billiard Table . . 110 7.4.3 The Snail Billiard Table 1u4 7.4.4 The Star Billiard Table... 114 7.5 Conclusions . 17 References... . . 119 Chapter 8. Mirror Curves. ........00.--005- 121 8.1 The Interesting Waste . . 121 82 The Mirror Curves Created by MAPLE 121 8.3. The Inverse Problem ........ 123 8.3.1 Outflanking Manoeuvre 123, 8.3.2. Geometrical Construction of a Point on the Pattern Curve... - 2... .--0--005 124 8.3.3 MAPLE Solution ..... 125 8.3.4 Analytic Solution... . . ran 126 84 Examples... 0.2.0.0... 00000000005 126 8.4.1 The Circle asthe Mirror Curve ....... 126 8.4.2. The Line as the Mirror Curve . - 128 8.5 Conclusions . . 129 References... . . 132CONTENTS xvii Chapter 9. Smoothing Filters... ............ 133 9.1 Introduction... . . Lee 133 9.2 Savitzky-Golay Lae See 183 9.2.1 Filter Coefficients... 0.0... eee 134 9.2.2 Results . 137 9.3 Least Squares Filter 138 9.3.1 Lagrange Equations . 139 9.3.2 Zero Finders... 0... 2. eee 141 9.3.3. Evaluation of the Secular Function . . . 142 9.3.4 MEX-Files . 9.3.5 Results... . References... 2.2... Chapter 10. The Radar Problem 10.1 Introduction........-... 10.2 Converting Degrees into Radians . 10.3 Transformation into Geocentric Coordinates 10.4 ‘The Transformations .............. 10.5 Final Algorithm. ............ 10.6 Practical Example References... 2.2.2... 162 Chapter 11. Conformal Mapping of a Circle .... 163 11.1 Introduction - 163 11.2 Problem Outline 163 11.3 MAPLE Solution 164 11.4 Matas Solution . References... 2.0.0... 00s 170 Chapter 12. The Spinning Top . . . 71 12.1 Introduction a7 12.2 Formulation and Basic Analysis of the Solution . . 173 12.3 The Numerical Solution . 2.2.22... Ls. 178 References... 2... 2 ee 180 Chapter 13. The Calibration Problem ...... . . 181 13.1 Introduction . . . . Bae 181 13.2 The Physical Model Description . . Le 181 13.3 Approximation by Splitting the Solution. . 184 134 Conclusions . . . : 189 References....... 190 Chapter 14. Heat Flow Problems . 191 14.1 Introduction... 0.2.2.0... i . 191 14.2 Heat Flow through a Spherical Wall . Lee. 91 14.2.1 A Steady State Heat Flow Model ce 192xviii CONTENTS 14.2.2 Fourier Model for Steady State .... - . 193 14.2.3 MAPLE Plots ..... - een 194 14.3 Non Stationary Heat Flow through an Agriculture Field... Leen eee 195 14.3.1 MapLE Plots ....-...-.-2+0-5- 199 References... 2 ee ee ee 199 Chapter 15. Modeling Penetration Phenomena ... 201 ALA Pdtnsl ooo oeoooO Ooo eo O00 ep ooo 201 15.2 Short description of the penetration theory..... 201 15.3 ae Tate-Alekseevskii model . 203 i Y, 205 pt=p 205 15.4 The eroding rod penetration model 207 15.5 Numerical Example 213 15.6 Conclusions . . 216 References 216 Chapter 16. Heat Capacity of System of Bose Particles...........-.--- 219 16.1 Introduction 219 16.2 MaPLe Solution 221 References 225 Chapter 17. Free Metal Compression . 227 17.1 Introduction . 227 17.2 The Base Expansion 229 17.3 Base Described by One and ‘Several Functions... 231 17.4 The Lateral Side Distortion 233 17.5 Non-centered Bases 237 17.6 Three Dimensional Graphical Representation of the Distorted Body ...... vee es 240 17.6.1 Centered base... .. ae 240 17.6.2 Non-centered, Segmented Base 244 17.6.3 Convex Polygon Base 246 17.7 Three Dimensional Animation... .. . 247 17.8 Limitations and Conclusions ...........-- 248 References... 2... ee tee eee 250 Chapter 18. Gauss Quadrature.............- 251 18.1 Introduction... 2... . 251 18.2 Orthogonal Polynomials 252 18.3 Quadrature Rule 266 18.4 Gauss Quadrature Rule... ..... see 267 18.5 Gauss-Radau Quadrature Rule 268CONTENTS 18.6 Gauss-Lobatto Quadrature Rule . . 18.7 Weights ...... . 18.8 Quadrature Error . . References... .....--... Chapter 19. Symbolic Computation of Explicit Runge-Kutta Formulas 19.1 Introduction . 19.2 Derivation of the Equations for ‘the Parameters 19.3 Solving the System of Equations . . 19.3.1 Grébner Bases... ..... 19.3.2 Resultants.......... 19.4 The Complete Algorithm... ... 19.4.1 Examplel: ......... 19.4.2 Example 2: 19.5 Conclusions... . References . . Chapter 20. Transient Response of a Two-Phase Half-Wave Rectifier .... . 20.1 Introduction . . 20.2 Problem Outline 20.3 Difficulties in Applying Conventional Code: and Software Packages ....... 20.4 Solution by Means of MAPLE References . . eeaeee) a aeen| Chapter 21. Circuits in Power Electronics....... 21.1 Introduction... 2.2.2.0... 21.2 Linear Differential Equations with Piecewise Constant Coefficients 21.3 Periodic Solutions 21.4 A MATLAB Implementation .. . . 21.5 Conclusions . References... . . Chapter 22. Newton’s and Kepler’s laws 22.1 Introduction . 22.2 Equilibrium of Two Forces 22.3 Equilibrium of Three Forces . . 22.4 Equilibrium of Three Forces, Computed from the Potential Energy ........ 22.5 Gravitation of the Massive Line Segment .... . . 22.5.1 Potential and Intensity . . 22.5.2 The Particle Trajectory 271 274 275 278 299 299 299 302 304 310 311 311 313 316 317 322 322 323 323 323, 324 326 328 328= CONTENTS 22.6 The Earth Satellite... .........--0-4. 22.7 Earth Satellite, Second Solution . . 22.8 The Lost Screw 22.9 Conclusions References. ......-.. Chapter 23. Least Squares Fit of Point Clouds . 23.1 Introduction... eee ee 23.2 Computing the Translation... ...... 23.3 Computing the Orthogonal Matrix 23.4 Solution of the Procrustes Problem . 23.5 Algorithm 23.6 Decomposing the Orthogonal Matrix 23.7 Numerical Examples 23.7.1 First example . . 23.7.2 Second example . References. .... 0.0... Chapter 24. Modeling Social Processes 24.1 Introduction... 2... enna 24.2 Modeling Population Migration ... . . . 24.2.1 Cyclic Migration without Regulation 24.2.2 Cyclic Migration with Regulation . 24.3 Modeling Strategic Investment... ... References... 2... ee eee Chapter 25. Contour Plots of Analytic Functions 25.1 Introduction... 2.6... 6. ee ee 25.2 Contour Plots by the contour Command . 25.3 Differential Equations. ........ 25.3.1 Contour Lines r = const. 25.3.2 Contour Lines y = const. 25.4 The Contour Lines r = 1 of f = en 25.5 The Contour Lines y = const of i= an References... 2... 2. oa Chapter 26. Non Linear Least Squares: Finding the most accurate location of an aircraft . . 26.1 Introduction... ........ 26.2 Building the Least Squares Equations . . . 26.3 Solving the Non-linear System 359 359 359 362 362 364 366 370 371 373 373 374 376 379CONTENTS Chapter 27. Computing Plane Sundials . 27.1 Introduction. ......... or 27.2 Astronomical Fundamentals 27.2.1 Coordinate Systems... .......... 27.2.2 The Gnomonic Projection 27.3 Time Marks . . . 27.3.1 Local Real Time 27.3.2 Mean Time .......... : 27.3.3 Babylonic and Italic Hours . . . 27.4 Sundials on General Planes Chapter 28. Agriculture Kinematics 28.1 Introduction . . . 28.2 Modeling of the chain — Acceleration of Scrapers 28.5 Plotting of the results 28.6 Rail Described by an Implicit Function : 28.7 Hyperbola Rail (Implicit Function) 28.8 Rail Described by a Parametric Function . 28.9 Hyperbola Rail (Parametric Function) 28.10Conclusions . . ar References... .. - Chapter 29. The Catenary Curve ... . 29.1 The Catenary Function 29.2 Scaling of the Problem 293 Eliminating Unknowns 29.4 Solution 29.5 Speed of Con’ Trajectory of the point @ 28.3 Trajectory of point H- The leadend ....... 284 Computing and Plotting Trajectory, Velocity and 383 386 399 410 415 418 420 421 423 423 425 426 427 429 431 Chapter 30. Least Squares Fit with Piecewise Functions433 30.1 Introduction... 2... 0. ...-02-500008 30.2 The Constrained Least Squares ‘Problem 30.3 Gauss-Newton Solution . 30.4 Structure of the Linearized Problem . 30.5 The Main Program... . . 30.6 Examples 30.7 Growth of Pigs References 433 434 435 436 438 441 443 449xxii CONTENTS Chapter 31. Portfolio Problems — Solved Online . 451 31.1 The modified Markowitz model ...... . : 451 31.2 Online solving... 2.2... 2... eee eee 453 31.2.1 Downloading the Recorded Data ...... 454 31.2.2 Computation of the Expected Returns and Volatilities of the Stocks ........ 455 31.2.3 Defining the Mathematical Model . . . 456 31.2.4 Solving the model with the Nonlinear Pro- gramming package»... 00... L487 References 459 Appendix A. Shared knowledge of ae and Matlab 461 Al Introduction... . 461 A.2 Application Centers . . 462 A.2.1| MAPLE Applications Center - 462 A.2.2° MAPLE Student Center... ....- - 462 A.2.3 Maras Student Center... ... - 463 A.2.4/ MATLAB Faculty Center 463 A.2.5 MATLAB Central - 463 A.3 Conclusions ...........-2...-.02005. 464 Index... 2... ee 465 Index of used MAPLE Commands............. 471