工程经济学（第17版） 下载 pdf 百度网盘 epub 免费 2025 电子书 mobi 在线

本书系统介绍了工程经济分析的理论、原理、方法和应用案例。全书共分为3部分。第1部分是工程经济基本原理，主要阐述工程经济分析的基本原则、重要的成本概念和估计技术、货币时间价值原理等工程经济学的基本概念和原理；第2部分介绍工程经济基本方法，深入分析了投资方案的赢利性评价方法和比选方法，折旧、所得税、通货膨胀等队评价方法的影响，设备更新分析方法，不确定性分析方法；第3部分为工程经济分析方法特别专题， 内容包括公共项目的费用效益分析方法、风险分析技术和融资及资本预算方法。

第1章引言

1.1四旋翼飞行器

1.2国内外研究现状

1.3四旋翼飞行器的典型应用

第2章常用模块

2.1运动传感器

2.1.1MPU6050六轴传感器

2.1.2MPU9150九轴传感器

2.1.3MPU9250九轴传感器

2.2超声波传感器

2.2.1超声波传感器US100

2.2.2超声波传感器KS109

2.3光流传感器

2.3.1CJMCU110

2.3.2PX4Flow

2.3.3PWM3901

2.42.4G无线通信模块NRF24L01

2.5飞行控制芯片

2.6舵机

2.6.1舵机的工作原理

2.6.2SG90舵机

2.7电源系统

2.8电调驱动

2.9电机选型

2.10分压板

2.11四旋翼电池、电机、螺旋桨搭配选型

2.12图像处理板模块

第3章四旋翼飞行器的原理

3.1基本原理

3.2四旋翼飞行器的6个基本飞行动作

3.2.1升降运动

3.2.2俯仰运动

3.2.3横滚运动

3.2.4偏航(自旋)运动

3.3姿态解算

3.3.1姿态表示

3.3.2数据滤波

3.3.3数据融合

3.3.4姿态解算

3.3.5PID平衡算法

第4章四旋翼飞行器的调试平台

4.1四旋翼飞行器调试平台的总体设计

4.2调试平台的硬件设计

4.2.1地面站

4.2.2飞行控制板

4.2.3四旋翼飞行器的调试原则

4.3调试平台软件设计

4.3.1地面站软件设计

4.3.2上位机软件设计

第5章四旋翼飞行器的飞行控制

5.1飞行控制板控制系统总体框架

5.2所用器件

5.3四旋翼飞行器的组装

5.3.1飞行器的整体组成

5.3.2飞行器的组装步骤

5.4地面站

5.5飞行控制板的功能

5.6软件结构

5.6.1飞行控制板软件结构

5.6.2通信数据帧格式

5.7光流传感器

5.7.1PX4Flow光流传感器

5.7.2Qgroundcontrol软件的使用

5.7.3PX4Flow光流调试

5.7.4PX4Flow光流与四旋翼飞行器的硬件连接

5.7.5PX4Flow光流与四旋翼飞行器的软件连接

5.8飞行器及图像传感器调试

5.8.1图像传输

5.8.2OpenWrt的使用

5.9电源电压测量

5.9.1模数转换器概述

5.9.2电源电压测量的实现

5.9.3电源分压模块的测试

5.10舵机

5.10.1舵机云台的硬件搭建

5.10.2舵机云台的软件编写

5.11四旋翼飞行器的遥控实现

5.11.1手机终端控制需求分析

5.11.2手机终端控制软件的设计方案

5.11.3软件工作的整个流程设计

5.11.4Android传感器的种类

5.11.5重力感应的遥控方式

5.11.6重力感应遥控的实现

5.11.7飞行高度控制的实现

5.12手机终端与飞行控制板的通信

5.12.1概述

5.12.2数据通信模块

5.12.3手机终端界面设计

5.12.4WiFi实时视频模块

第6章基于Kinect的四旋翼飞行器

6.1深度摄像头Kinect介绍

6.1.1概述

6.1.2Kinect数据形式

6.2四旋翼飞行器控制系统

6.2.1控制系统总体设计

6.2.2姿态控制

6.2.3姿态解算

6.2.4位姿解算

6.2.5高度控制

6.2.6定点悬停

6.2.7位移控制

6.3Kinect视角下四旋翼飞行器的定位及追踪

6.3.1四旋翼飞行器的识别及追踪

6.3.2Kinect视角中其他物体的识别

6.3.3Kinect视角中物体的位置转换关系

6.4Kinect视角下四旋翼飞行器的路径规划及控制

6.4.1自主钻窗

6.4.2手势控制

6.5计算机上位机程序

6.5.1上位机主要功能

6.5.2上位机程序实现

第7章送货无人机

7.1无人机硬件系统设计

7.1.1硬件总体框架

7.1.2调试平台的硬件设计

7.1.3飞控部分硬件设计

7.2无人机软件系统设计

7.2.1调试平台软件设计

7.2.2地勤管理平台软件设计

7.3地勤管理软件平台各功能具体介绍

7.3.1功能选择界面

7.3.2用户数据管理

7.3.3货物分拣界面

7.3.4分拣记录查询

7.3.5修改账户密码

7.4飞控部分软件设计

7.4.1控制系统

7.4.2图像处理系统

7.4.3数据传输设计

第8章无人机救灾指挥系统

8.1硬件系统设计

8.1.1硬件总体结构

8.1.2无人机选型

8.1.3图像及音频模块

8.1.4通信模块

8.1.5飞行控制板

8.2PC测绘端设计

8.2.1系统总体设计

8.2.2视频接口程序

8.2.3数据接口程序

8.2.4实时视频拼接程序

8.2.5本地视频拼接

8.2.6拼接图形显示

8.2.7目标救援点识别

8.3安卓地面站端设计

8.3.1手机软件总体设计

8.3.2数据处理程序

8.3.3飞行数据界面

8.3.4编辑器界面

8.4树莓派语音合成

8.5人脸识别设计

8.5.1人脸检测模块

8.5.2面部特征点定位模块

8.5.3人脸特征提取与比对模块

8.6数据通信设计

8.6.1PC端与手机地面站通信协议

8.6.2手机与无人机的通信协议

8.6.3无人机与上位机视音频传输

8.6.4树莓派与上位机信号传输

8.6.5手机与上位机信号传输

第9章基于STM32F4飞控板制作

9.1飞控板硬件设计

9.1.1硬件总体设计

9.1.2器件选型

9.1.3硬件电路设计

9.1.4PCB设计图

9.2飞控板软件设计

9.2.1总体软件设计

9.2.2软件程序设计

9.2.3程序移植对接

第10章“空中交警”——基于无人机的应急交通指挥系统

10.1概述

10.2系统方案

10.2.1硬件方案

10.2.2通信方案

10.2.3功能方案

10.3硬件框架

10.3.1总体硬件框架

10.3.2硬件模块选型

10.4软件流程

10.4.1机器人操作系统

10.4.2飞控程序

10.4.3避障

10.4.4LED控制

10.4.5AP无线热点

10.4.6手机App

10.4.7视频传输

10.4.8数据通信协议

第11章四旋翼自主飞行器探测跟踪系统

11.1系统方案

11.1.1定点悬停方案

11.1.2悬停于小车上方

11.2系统理论分析与计算

11.2.1图像处理

11.2.2小车与飞行器的距离感应

11.3电路与程序设计

11.3.1系统组成

11.3.2原理框图与电路原理图

11.4测试步骤

第12章灭火飞行器

12.1概述

12.2系统方案

12.2.1定点悬停方案的论证与选择

12.2.2寻找模拟火源方案的论证与选择

12.2.3定高功能的论证与选择

12.2.4巡航功能的论证与选择

12.2.5灭火方案的论证与选择

12.2.6穿越方案的论证与选择

12.3系统理论分析与计算

12.3.1图像处理

12.3.2定位悬停处理

12.3.3高度数据修正

12.4电路与程序设计

12.4.1系统组成

12.4.2原理框图与电路原理图

12.4.3系统软件与流程图

12.5系统测试

12.5.1各模块测试

12.5.2飞行任务测试

第13章四旋翼目标识别飞行器

13.1四旋翼目标识别飞行器概述

13.2四旋翼飞行器的系统组成

13.2.1四旋翼飞行器的程序设计

13.2.2主要模块

13.3软件设计

13.3.1系统方案

13.3.2PID控制器

13.3.3图像识别

13.3.4自动巡航

13.3.5一键起飞与降落

13.3.6断电保护

13.4调试方案

第14章激光打靶四旋翼飞行器

14.1概述

14.2设计与实施方案

14.2.1室内定位方案选择

14.2.2图像识别方案

14.2.3飞控方案

14.2.4地面站系统选择

14.2.5NRF无线通信模块

14.2.6开发平台

14.3程序设计

14.3.1飞控部分

14.3.2姿态控制

14.3.3图传板通信

14.3.4PID调节与滤波

14.3.5图传

14.3.6地面站

14.4系统测试

14.4.1图传测试

14.4.2识别结果通信测试

14.4.3系统测试

第15章自主跟踪四旋翼飞行器

15.1自主跟踪四旋翼飞行器概述及发展现状

15.1.1概述

15.1.2发展现状

15.2硬件系统设计

15.2.1机械设计

15.2.2传感器

15.2.3通信模块

15.2.4飞行控制板设计

15.2.5系统板设计

15.3飞行控制板软件系统设计

15.3.1系统总体设计

15.3.2硬件接口程序

15.3.3位姿解算

15.3.4飞行稳定算法

15.3.5数据通信

15.4系统板软件系统设计

15.4.1软件系统总体设计

15.4.2交叉编译环境搭建

15.4.3系统板Uboot

15.4.4Ubuntu操作系统

15.4.5ROS次级操作系统

15.4.6机器视觉识别

15.4.7飞行数据及运动规划

第16章无人机的形状识别和数字识别

16.1开发平台

16.1.1飞控板开发调试平台

16.1.2遥控板开发调试平台

16.1.3电路板设计平台

16.1.43D打印建模软件

16.1.53D打印切片软件

16.2设计目标与技术难点

16.2.1设计目标

16.2.2技术难点

16.3实现原理

16.3.1小型无人机与穿越机的区别

16.3.2系统方案

16.3.3传感器选型

16.4飞行控制板

16.4.1硬件设计

16.4.2飞控软件

16.4.3飞控调试注意事项

16.5遥控器

16.5.1硬件制作

16.5.2软件编程

16.6OpenMV视觉识别

16.6.1硬件设计

16.6.2软件部分

16.7通信协议

16.7.1遥控器发送

16.7.2形状识别

16.7.3数字识别

16.83D打印机架

16.8.1空心杯小型飞行器机架

16.8.2穿越机机架

16.8.3遥控器外壳

第17章微型无人机的制作

17.1飞控板硬件设计

17.1.1功能需求分析

17.1.2硬件总体设计

17.1.3器件选型

17.1.4硬件电路设计

17.1.5PCB布局排版及注意事项

17.2飞控板软件设计

17.2.1集成开发环境(IDE)的选择

17.2.2嵌入式操作系统的选择

17.2.3TM4C1294程序框架

17.2.4姿态解算和PID算法流程

17.2.5基于四元数的姿态解求解互补滤波算法

17.2.6角度环PID和角速度环PID调节函数

17.2.7Z轴高度环PID的调节函数

17.2.8微型四旋翼飞行器姿态控制

17.2.9遥控器协议

17.3飞控板系统调试

17.3.1飞行器系统开发过程

17.3.2微型四旋翼飞行器的PID调试

17.3.3调试过程中可能遇到的问题

17.4遥控器板硬件设计

17.4.1总体硬件设计

17.4.2器件选型

17.4.3硬件电路设计

17.4.4PCB布局排版及注意事项

17.5遥控器板软件设计

17.5.1总体软件设计

17.5.2软件程序设计

17.5.3串口屏软件设计

17.6遥控器板功能调试

17.6.1预期功能

17.6.2调试过程与问题

17.7图像处理板硬件设计

17.7.1控制系统整体设计

17.7.2图像处理板电路设计

17.7.3硬件电路PCB布局

17.8图像处理板软件设计

17.8.1固件烧录及开发环境

17.8.2软件主流程

17.8.3图像处理端Socket程序设计

17.8.4串口收发程序设计

17.8.5激光笔蜂鸣器驱动程序设计

17.8.6图像识别程序设计

17.9图像处理手机端软件设计

17.9.1安卓开发环境搭建

17.9.2手机App需求分析

17.9.3手机控制流程设计

17.9.4人机交互界面设计

17.9.5手机端Socket通信

17.9.6重力传感器控制

17.9.7高度控制

17.9.8按键控制

17.10图像处理板系统调试

第18章巡线机器人

18.1方案论证

18.1.1硬件设计方案选择

18.1.2软件设计方案选择

18.1.3主要器件选型

18.1.4系统原理框图

18.2理论分析与计算

18.2.1FreeRTOS操作系统的使用

18.2.2串级PID控制

18.2.3定高数据融合

18.2.4飞行器位置调节

18.2.5飞控板与OpenMV通信协议

18.2.6提高图片识别率的措施

18.3电路与结构件设计

18.3.1硬件电路设计

18.3.23D打印件装配

18.3.3电路模块装配

18.4软件设计流程

威廉?G.沙利文（William G. Sullivan），弗吉尼亚理工学院暨州立大学（Virginia Polytechnic Institute and Stete University）教授

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工程经济学领域的畅销教材

前言

PREFACE 

We live in a sea of economic decisions. —Anonymous 

Proudly serving engineering educators and students for over 75 years 

About Engineering Economy 

A succinct job description for an engineer consists of two words: problem solver. Broadly speaking, engineers use knowledge to .nd new ways of doing things economically. Engineering design solutions do not exist in a vacuum but within the context of a business opportunity. Given that every problem has multiple solutions, the issue is, How does one rationally select the design with the most favorable economic result? The answer to this question can also be put forth in two words: engineering economy. Engineering economy provides a systematic framework for evaluating the economic aspects of competing design solutions. Just as engineers model the stress on a support column, or the thermodynamic response of a steam turbine, they must also model the economic impact of their recommendations. 

Engineering economy—what is it, and why is it important? The initial reaction of many engineering students to these questions is, “Money matters will be handled by someone else. They are not something I need to worry about.” In reality, any engineering project must be not only physically realizable but also economically affordable. This book is about how to make smart economic choices. 

Understanding and applying economic principles to engineering have never been more important. Engineering is more than a problem-solving activity focusing on the development of products, systems, and processes to satisfy a need or demand. Beyond function and performance, solutions must also be viable economically. Design decisions affect limited resources such as time, material, labor, capital, and natural resources, not only initially (during conceptual design) but also through the remaining phases of the life cycle (e.g., detailed design, manufacture and distribution, service, retirement, and disposal). A great solution can die a certain death if it is not pro.table. 

.  MyLab Engineering is available with Engineering Economy, 17/e and provides a powerful homework and test manager which lets instructors create, import, and manage online homework assignments, quizzes, and tests that are automatically 

16 PREFACE 

graded. You can choose from a wide range of assignment options, including time limits, proctoring, and maximum number of attempts allowed. The bottom line: MyLab Engineering means less time grading and more time teaching. 

.  

Automatically graded and algorithmic-generated homework assignments, quizzes, and tests that directly correlate to the textbook. 

.  

Automatic grading that tracks students’ results. 

.  

Assignable Auto-Graded Excel Projects let students master key Excel skills within the application and receive immediate feedback on their work. 

.  

Interactive “Help Me Solve This” tutorials provide opportunity for point-of-use help and more practice. 

.  

Learning Objectives mapped to ABET outcomes provide comprehensive reporting tools. 

.  

Video Solutions are available to help explain concepts or walk students through example exercises from the book. 

What’s New to This Edition? 

Our intent in revising the text is to continue integrating computer technology and realistic examples to facilitate learning engineering economy. Here are the highlights of changes made in the publication of the seventeenth edition: 

.  

Approximately half of all end-of-chapter problems have been replaced with fresh, new problems. 

.  

The “Try Your Skills” problem sets at the end of Chapters 1 through 8 have been doubled in problem count. “Try Your Skills” problem sets have also been added for Chapters 9 through 11. 

.  

Appendix A, a description of accounting fundamentals, has been rewritten and added to the book. 

.  

Group in-class problem exercises have been added to the majority of chapters in the seventeenth edition. These exercises are ideal for in-class, team-based problem solving with three to four students in each group. 

.  

Appendix H, which features answers to selected end-of-chapter problems, has been added to this new edition. 

.  

Problem-solution videos have been updated and expanded. These videos provide students with step-by-step solution methods and demonstrate both by-hand and spreadsheet solutions. These complement the MyLab Engineering software that has been a popular feature of previous editions. 

Strategies of This Book 

This book has two primary objectives: (1) to provide students with a sound understanding of the principles, basic concepts, and methodology of engineering economy; and (2) to help students develop pro.ciency with these methods and with the process for making rational decisions they are likely to encounter in professional practice. Interestingly, an engineering economy course may be a student’s only college 

PREFACE 17 

exposure to the systematic evaluation of alternative investment opportunities. In this regard, Engineering Economy is intended to serve as a text for classroom instruction and as a basic reference for use by practicing engineers in all specialty areas (e.g., chemical, civil, computer, electrical, industrial, and mechanical engineering). The book is also useful to persons engaged in the management of technical activities. 

This book is written to appeal to engineering students with a wide variety of personal interests and majors. Our students are like most college students, varied in their educational and career interests and eager for challenging work that will inspire them. The explanations and examples in the book are student-centered and eminently practical in real-life situations. In addition, multimedia resources are available online in MyLab Engineering for students and instructors looking to supplement the print book’s contents. 

As a textbook, the seventeenth edition is written principally for the .rst formal course in engineering economy. A three-credit-hour semester course should be able to cover the majority of topics in this edition, and there is suf.cient depth and breadth to enable an instructor to arrange course content to suit individual needs. Representative syllabi for a three-credit and a two-credit semester course in engineering economy are provided in Table P-1. Moreover, because several advanced topics are included, this book can also be used for a second course in engineering economy. 

All chapters and appendices have been revised and updated to re.ect current trends and issues. Also, numerous exercises that involve open-ended problem statements and iterative problem-solving skills are included throughout the book. A large number of the 750-plus end-of-chapter exercises are new, and many solved examples representing realistic problems that arise in various engineering disciplines are presented. 

In the 21st century, the world is turning over a new leaf for environmental sustainability. We have worked hard to capture this spirit in many of our examples and end-of-chapter problems. In fact, more than 160 “green” problems and examples have been integrated throughout this edition. They are listed in the Green Content section following the Preface. 

FE Practice Problems are included to help prepare engineering students for milestone examinations similar to the Fundamentals of Engineering written examination in the United States and a few other countries. 

It is generally advisable to teach engineering economy at the upper division level. Here, an engineering economy course incorporates the accumulated knowledge students have acquired in other areas of the curriculum and also deals with iterative problem solving, open-ended exercises, creativity in formulating and evaluating feasible solutions to problems, and consideration of realistic constraints (economic, aesthetic, safety, etc.) in problem solving. 

Also available to adopters of this edition is an instructor’s solutions manual and other classroom resources. In addition, PowerPoint visual aids are readily available to instructors. Visit www.pearsonglobaleditions.com for more information.