本书对目前球形机器人的研究现状进行了归纳、分析，对球形机器人的驱动原理、力学模型、控制策略等进行了深入的研究，设计了三种新型全方位运动球形机器人，即电磁驱动球形机器人、流体驱动球形机器人和离合式半球差动球形机器人，对其滚动条件、越障能力、爬坡能力、滑动条件、转弯特性等进行了简要的静力学分析研究；建立了球形机器人的运动学方程，推导出其无滑动的滚动运动的约束方程；分别在球形机器人运动学方程和动力学方程的基础上，合理选择了系统的滑模切面函数、建立了运动学和动力学的“滑模控制”策略，并在MATLAB-Simulink 的环境下，对所建立的控制策略进行了仿真实验研究；搭建了球形机器人的内部控制系统平台，对球形机器人轨迹跟踪的控制策略进行了理论分析和实验研究；同时，基于ADAMS虚拟样机技术，对球形机器人的性能进行了仿真实验研究，以进一步验证本书结构设计及控制策略的正确性。

This book owes its beginnings to the pioneering work of Claude Shannon in 1948 on reliable communication over noisy transmission channels. Shannon's central theme was that if the signaling rate of the system is less than the channel capacity， reliable communication can be achieved if one chooses proper encoding and decodingtechniques. The design of good codes and of efficient decoding methods， initiated by Hamming， Golay， and others in the late 1940s， has since occupied the energies of many researchers. Much of tlus work is highly mathematical in nature， and a thorough understanding requires an extensive background in modern algebra and probability theory. Tlus requirement has impeded many engineers and computer scientists who are interested in applying these techniques to practical systems. One of the purposes of this book is to present the essentials of this highly complex material in such a manner that it can be understood and applied with only a minimum of mathematical background.Coding researchin the 1950s and 1960s was devoted primarily to developing the theory of efficient encoders and decoders. In 1970 the first author published a book entitled An Introduction to Error-Correcting Codes， which presented the fundamen-tals of the previous two decades of work covering both block and convolutional codes. The approach was to explain the material in an easily understood manner，with a minimum of mathematical rigor. Then， in 1983， the authors published the first edition of this book. The approach again stressed the fundamentals of coding.In addition， new material on many of the practical applications of coding developed during the 1970s was introduced. Other major additions included a comprehensive treatment of the error-detecting capabilities of block codes and an emphasis on soft decoding methods for convolutional codes.In the 1980s and 1990s，the coding field exploded with new theoretical develop-ments， several of which have had significant practical consequences. Three of these new developments stand out in particular： the application of binary convolutional and block codes to expanded （nonbinary） modulation alphabets，the development of practical soft decoding methods for block codes， and the discovery of soft-input， soft-output iterative decoding techniques for block and convolutional codes. These new developments have revolutionized the way coding is applied to practical systems，affecting the design of high-speed data modems， digital mobile cellular telephony，satellite and space communications， and high-density data storage， to name just a few. A total of seven new chapters covering these topics have been added to this edition： two chapters on trellis- and block-coded modulation techniques， three chapters on soft decoding methods for block codes， and two chapters on turbo and low-density parity-check codes and iterative decoding.Because of the significant amount of new material and the need to maintain an emphasis on coding fundamentals， it was not possible to include certain topics in this edition. For example， the new developments in algebraic geometry codes and erasure correcting codes are not covered.

《激光诱导击穿光谱技术与大气环境探测》结合*新研究成果，介绍了激光诱导击穿光谱技术在大气环境探测中的前沿应用及激光诱导击穿光谱技术和实验系统，阐述了基于激光诱导击穿光谱技术的大气环境在线探测的*新进展，包括大气颗粒物重金属元素及碳同位素探测、大气污染溯源、大气环境中的挥发性有机物（VOCs）和硫的探测、大气湿沉降的农作物污染和水汽探测等，展示了光谱技术在大气科学交叉研究领域的学科内涵和重要应用。

高速光通信系统的飞速发展对光电子器件性能提出了更高的要求，与新型微纳超结构集成的光器件已经成为光通信发展的必然需求之一。高折射率差光栅作为一种新型微纳超结构，已经广泛地应用在高性能光电子器件中，将新型高折射率差光栅与半导体光探测器、激光器等有源器件集成，可以显著地拓展其器件的功能。《高折射率差超结构光器件》以高折射率差光栅为主要研究对象，全面阐述了该超结构器件的理论设计方法、制备工艺及测试方法，较为系统、完整地介绍了基于高折射率差光栅结构的不同功能器件的性能指标、应用，以及未来的发展趋势。通过阅读《高折射率差超结构光器件》，读者可以全面了解相关的技术原理和应用前景。

《Ⅲ族氮化物发光二极管：从紫外到绿光（英文版）》面向世界科技前沿和国家重大需求，针对高效率Ⅲ族氮化物LED芯片设计和制造的关键问题，基于作者在III族氮化物LED外延生长和芯片制造领域十余年的研究基础和产业化经验，融入国内外同行在这一领域的研究成果，从蓝光/绿光/紫外LED外延结构设计与材料生长、水平结构/倒装结构/垂直结构/高压LED芯片设计与制造工艺、LED失效机理与可靠性这三个方面系统阐述Ⅲ族氮化物LED芯片设计和制造技术。　《Ⅲ族氮化物发光二极管：从紫外到绿光（英文版）》共六章，第一章对Ⅲ族氮化物LED的发展历程、工作原理和物性参数进行了全面的介绍；第二章详细阐述了蓝光/绿光/紫外LED外延生长工艺；第三章介绍高效率水平结构LED芯片制造工艺；第四章介绍倒装结构LED芯片制造技术，对高反射率、低阻欧姆接触p型电极和通孔接触n型电极进行了详细的阐述；第五章介绍高压LED芯片、垂直结构LED芯片和Mini/Micro-LED芯片制造工艺；第六章介绍LED芯片失效机理和LED光学、电学、色度学参数在线测试方法。

配电网线损分析，旨在深入分析线损的起因、性质及构成比例等因素，找出影响线损的主要因素，并有针对性地采取相应的降损措施，以较少的投入取得较大的降损效果和经济效益。 本书系统地阐述了配电网线损计算、降损措施及台区线损分析方法。全书共6章，主要内容包括概述、电网各元件的特性和数学模型、线损理论计算、含有分布式电源配电网的线损计算、降低配电网线损的措施以及农村典型台区线损分析与计算，同时附有一些简单明了的应用例题或实例分析。本书可供从事配电系统工程的技术人员学习参考，也可作为高等院校电气工程及其自动化、农业电气化专业的高年级本科生及研究生的专业参考书。

本书基于应用型人才培养目标，根据工程教育认证的课程要求编写。教材采用线上与线下相结合的新形态数字模式，针对教师和学生都做了全方位的、丰富立体的配套资源，以方便教师教学和学生学习。本书可用作应用型本科院校或者高职专科学校的自动化、电气工程、信息电子、通信工程、计算机等专业的电路原理等课程的教材，也可以作为工程技术人员的函授教材或参考用书。 针对教师的配套：多媒体课件，课后习题解答、习题库及答案，实验指导书，教学导学案例、教学大纲、教案等。 针对学生的配套：36个主要知识点的高清视频微课、6套在线自测题等。同学均可扫描书中二维码观看或练习。 选用教材的老师请登录www.cmpedu.com注册下载教材配套或发邮件至lixiaoping91142@163.com向责编索要。

This book is all about iterative channel decoding.Two other names which are often used to identify the same area are probabilistic coding and codes on graphs.Itera-tive decoding was originally conceived by Gallager in his remarkable Ph.D.thesis of 1960.Gallager's work was，evidently，far ahead of its time.Limitations in com-putational resources in the 1960 were such that the power of his approach could not be fully demonstrated，let alone developed.Consequently，iterative decoding at-tracted only passing interest and slipped into a long dormancy.It was rediscovered by Berrou，Glavieux，and Thitimajshima in 1993 in the form of turbo codes，and then independently in the mid iggos by MacKay and Neal，Sipser and Spielman，as well as Luby，Mitzenmacher，Shokrollahi，Spielman，and Stemann in a form much closer to Gallager's original construction.Iterative techniques have subsequently had a strong impact on coding theory and practice and，more generally，on the whole of commu-nications.The title Modern Coding Theory is clearly a hyperbole.There have been several other important recent developments in coding theory.To mention one prominent example： Sudan's algorithm and the Guruswami-Sudan improvement for list de-coding of Reed-Solomon codes and their extension to soft-decision decoding have sparked new life into this otherwise mature subject.So what is our excuse？ Iter-ative methods and their theory are strongly tied to advances in current comput-ing technology and they are therefore inherently modern.They have also brought about a break with the past.Moreover，the techniques are influencing a wide range of applications within and beyond communications，connecting that area with many modern topics in，among others，statistical mechanics and complexity theory.Nev-ertheless，the font on the book cover expresses the irony that the roots of moderncoding go back to a time when typewriters ruled the world.The field ofiterative decoding has not settled in the same way that classical cod-ing has.There are nearly as many flavors ofiterative decoding systems-and graphi-cal models to represent them-as there are researchers in the field.We have therefore decided to focus more on techniques to analyze and design such systems rather than on specific instances.In order to present the theory，we have elected Gallager's orig-inal ensemble oflow-density parity~check （LDPC） codes as a representative exam-ple.This ensemble is perhaps the most elegant example and it provides a framework within which the main results can be presented easily.Once the basic concepts are absorbed，their extensions to more general cases is typically routine and several such extensions （but not an exhaustive list） are discussed.

《TMS320C2000 DSP 应用实例精讲》以TMS320F2812为例，介绍TMS320C2000系列DSP在作者所从事的航空遥感器控制系统项目中的具体应用，包括数据串行通信控制、直流伺服控制、步进电机控制、温度控制以及嵌入式控制软件的在线升级应用等。结合各个应用的特点，通过分析其功能需求和使用情况，推导数学模型，进行硬件控制电路原理和主要软件代码的设计，给出测试或试验的结果，为用户了解和快速掌握该处理器的应用特性和使用特点，设计出满足使用要求的嵌入式数字控制系统提供参考。

《山东省网络视听蓝皮书》是全面系统梳理山东省网络视听行业的报告。本报告通过实地调研、案例分析、问卷调查、深度访谈等方法，从山东省网络视听产业发展状况及社会效益、用户、行业从业者、重点机构、精品内容生产等维度，对山东省网络视听行业形成深刻洞察，总结优秀成果和发展趋势。同时，对山东省网络视听行业需要面对的问题进行探讨，在问题意识引领下，对其提升提出对策。