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Control Engineering Theory and Applications
by Jahangir Alam Guoqing Hu Hafiz Md. Babu Huazhong XuThe book provides general knowledge of automatic control engineering and its applications. Providing an overview of control theory and systems, the chapters introduce transfer functions, modeling of control systems, automatic control systems, block diagrams, and signal flow graphs. While control system analysis and design are accompanied by root-locus methods and frequency response analyses, distributed control systems, nonlinarity in control systems including Z-transformation are also presented. With straightforward demonstrations, examples, and multiple-choice questions, this book can be used as a reference textbook for electrical and electronics engineering, computer control engineering, automation engineering, mechatronics engineering, mechanics, robotics, AI control systems, hydraulics, process engineering, safety control engineering, aeronautical and aerospace engineering, auto-pilot system, decision-making system, and stock exchange, and will be suitable for majors, non-majors, and experts in the field of science and technology.
Control for Aluminum Production and Other Processing Industries
by Mark P. Taylor John J. Chen Brent Richmond YoungAn uncomfortable observation in the Shift Logs and Process Control records of most aluminum smelting plants is that process control failures, large and small, happen every day. Although only a small fraction of these failures give rise to catastrophic events, the difference between a disaster we read about and a failure which, although expensive, h
The Control Handbook: Control System Fundamentals, Second Edition (Electrical Engineering Handbook)
by William S. LevineAt publication, The Control Handbook immediately became the definitive resource that engineers working with modern control systems required. Among its many accolades, that first edition was cited by the AAP as the Best Engineering Handbook of 1996. Now, 15 years later, William Levine has once again compiled the most comprehensive and authoritative resource on control engineering. He has fully reorganized the text to reflect the technical advances achieved since the last edition and has expanded its contents to include the multidisciplinary perspective that is making control engineering a critical component in so many fields. Now expanded from one to three volumes, The Control Handbook, Second Edition brilliantly organizes cutting-edge contributions from more than 200 leading experts representing every corner of the globe. The first volume, Control System Fundamentals, offers an overview for those new to the field but is also of great value to those across any number of fields whose work is reliant on but not exclusively dedicated to control systems. Covering mathematical fundamentals, defining principles, and basic system approaches, this volume: Details essential background, including transforms and complex variables Includes mathematical and graphical models used for dynamical systems Covers analysis and design methods and stability testing for continuous-time systems Delves into digital control and discrete-time systems, including real-time software for implementing feedback control and programmable controllers Analyzes design methods for nonlinear systems As with the first edition, the new edition not only stands as a record of accomplishment in control engineering but provides researchers with the means to make further advances. Progressively organized, the other two volumes in the set include: Control System Applications Control System Advanced Methods
The Control Handbook: Control System Applications, Second Edition (The Electrical Engineering Handbook)
by William S. LevineAt publication, The Control Handbook immediately became the definitive resource that engineers working with modern control systems required. Among its many accolades, that first edition was cited by the AAP as the Best Engineering Handbook of 1996. Now, 15 years later, William Levine has once again compiled the most comprehensive and authoritative resource on control engineering. He has fully reorganized the text to reflect the technical advances achieved since the last edition and has expanded its contents to include the multidisciplinary perspective that is making control engineering a critical component in so many fields.Now expanded from one to three volumes, The Control Handbook, Second Edition organizes cutting-edge contributions from more than 200 leading experts. The second volume, Control System Applications, includes 35 entirely new applications organized by subject area. Covering the design and use of control systems, this volume includes applications for: Automobiles, including PEM fuel cells Aerospace Industrial control of machines and processes Biomedical uses, including robotic surgery and drug discovery and development Electronics and communication networks Other applications are included in a section that reflects the multidisciplinary nature of control system work. These include applications for the construction of financial portfolios, earthquake response control for civil structures, quantum estimation and control, and the modeling and control of air conditioning and refrigeration systems.As with the first edition, the new edition not only stands as a record of accomplishment in control engineering but provides researchers with the means to make further advances. Progressively organized, the other two volumes in the set include: Control System Fundamentals Control System Advanced Methods
Control in Bioprocessing: Modeling, Estimation and the Use of Soft Sensors
by Pablo A. López Pérez Ricardo Aguilar López Ricardo FematCloses the gap between bioscience and mathematics-based process engineering This book presents the most commonly employed approaches in the control of bioprocesses. It discusses the role that control theory plays in understanding the mechanisms of cellular and metabolic processes, and presents key results in various fields such as dynamic modeling, dynamic properties of bioprocess models, software sensors designed for the online estimation of parameters and state variables, and control and supervision of bioprocesses Control in Bioengineering and Bioprocessing: Modeling, Estimation and the Use of Sensors is divided into three sections. Part I, Mathematical preliminaries and overview of the control and monitoring of bioprocess, provides a general overview of the control and monitoring of bioprocesses, and introduces the mathematical framework necessary for the analysis and characterization of bioprocess dynamics. Part II, Observability and control concepts, presents the observability concepts which form the basis of design online estimation algorithms (software sensor) for bioprocesses, and reviews controllability of these concepts, including automatic feedback control systems. Part III, Software sensors and observer-based control schemes for bioprocesses, features six application cases including dynamic behavior of 3-dimensional continuous bioreactors; observability analysis applied to 2D and 3D bioreactors with inhibitory and non-inhibitory models; and regulation of a continuously stirred bioreactor via modeling error compensation. Applicable across all areas of bioprocess engineering, including food and beverages, biofuels and renewable energy, pharmaceuticals and nutraceuticals, fermentation systems, product separation technologies, wastewater and solid-waste treatment technology, and bioremediation Provides a clear explanation of the mass-balance–based mathematical modelling of bioprocesses and the main tools for its dynamic analysis Offers industry-based applications on: myco-diesel for implementing "quality" of observability; developing a virtual sensor based on the Just-In-Time Model to monitor biological control systems; and virtual sensor design for state estimation in a photocatalytic bioreactor for hydrogen production Control in Bioengineering and Bioprocessing is intended as a foundational text for graduate level students in bioengineering, as well as a reference text for researchers, engineers, and other practitioners interested in the field of estimation and control of bioprocesses.
Control in System Dynamics: Comparative Analysis of Feedback Strategies (ISTE Consignment)
by Alain OustaloupIn order to ensure a pedagogical presentation of the fundamentals, this book, which is based on 45 years of experience, endeavors to identify the main principles of the control scheme and its dynamics. The control loop is extensively developed because of the reference it constitutes in control. By establishing the control loop as equivalent to any other control or, more precisely, by making an elementary control loop appear, it becomes possible to reveal a part of this loop in other controls and, thanks to its regulator, qualitatively evaluate the control strategy. A comparative analysis then shows that the complexification of the control scheme does not necessarily go hand in hand with a better control strategy and therefore a better performance. Since robustness results from innovations in terms of performance desensitization, the CRONE control is presented, in view of the genuine domains of uncertainty taken into account and the small number of parameters to be optimized. The educational nature of this book is enhanced by numerous solved problems that develop examples of synthesis of different controls. Control in System Dynamics is intended for a very wide audience, including engineers, researchers, teachers and students hoping to expand their knowledge of control and dynamics in automatic control.
Control, Instrumentation and Mechatronics: Theory and Practice (Lecture Notes in Electrical Engineering #921)
by Norhaliza Abdul Wahab Zaharuddin MohamedThis proceeding includes original and peer-reviewed research papers from the 3rd International Conference on Control, Instrumentation and Mechatronics Engineering (CIM2022). The conference is a virtual conference held on 2-3 March 2022. The topics covered latest work and finding in the area of Control Engineering, Mechatronics, Robotics and Automation, Artificial Intelligence, Manufacturing, Sensor, Measurement and Instrumentation. Moreover, the latest applications of instrumentations, control and mechatronics are provided. Therefore, this proceeding is a valuable material for researchers, academicians, university students and engineers.
Control Instrumentation Systems: Proceedings of CISCON 2018 (Lecture Notes in Electrical Engineering #581)
by C. Shreesha Ravindra D. GudiThis volume contains selected papers which had been presented during CISCON 2018. The papers cover the latest trends in the fields of instrumentation, sensors and systems, industrial automation & control, image and signal processing, robotics, renewable energy, power systems and power drives, with focus on solving the current challenges faced in the field of instrumentation and control engineering. This volume will be of use to academic and industry researchers and students working in this field.
Control Loop Foundation - Batch and Continuous Processes
by Terrence Blevins Mark NixonIn this in-depth book, the authors address the concepts and terminology that are needed to work in the field of process control. The material is presented in a straightforward manner that is independent of the control system manufacturer. It is assumed that the reader may not have worked in a process plant environment and may be unfamiliar with the field devices and control systems. Much of the material on the practical aspects of control design and process applications is based on the authors personal experience gained in working with process control systems. Thus, the book is written to act as a guide for engineers, managers, technicians, and others that are new to process control or experienced control engineers who are unfamiliar with multi-loop control techniques. After the traditional single-loop and multi-loop techniques that are most often used in industry are covered, a brief introduction to advanced control techniques is provided. Whether the reader of this book is working as a process control engineer, working in a control group or working in an instrument department, the information will set the solid foundation needed to understand and work with existing control systems or to design new control applications. At various points in the chapters on process characterization and control design, the reader has an opportunity to apply what was learned using web-based workshops. The only items required to access these workshops are a high-speed Internet connection and a web browser. Dynamic process simulations are built into the workshops to give the reader a realistic "hands-on" experience. Also, some information is provided on the web site that may be helpful in exploring basic and advanced control techniques. In addition to the online workshops, one chapter of the book is dedicated to techniques that may be used to create process simulations using tools that are commonly available within most distributed control systems. As control techniques are introduced, simple process examples are used to illustrate how these techniques are applied in industry. The last chapter of the book, on process applications, contains several more complex examples from industry that illustrate how basic control techniques may be combined to meet a variety of application requirements.
Control, Mechatronics and Automation Technology: Proceedings of the International Conference on Control, Mechatronics and Automation Technology (ICCMAT 2014), July 24-25, 2014, Beijing, China (IRAICS Proceedings)
by Dawei ZhengThis proceedings volume contains selected papers presented at the 2014 International Conference on Control, Mechatronics and Automation Technology (ICCMAT 2014), held July 24-25, 2014 in Beijing, China. The objective of ICCMAT 2014 is to provide a platform for researchers, engineers, academicians as well as industrial professionals from all over th
Control of Autonomous Aerial Vehicles: Advances in Autopilot Design for Civilian UAVs (Advances in Industrial Control)
by Andrea L’Afflitto Gokhan Inalhan Hyo-Sang ShinControl of Autonomous Aerial Vehicles is an edited book that provides a single-volume snapshot on the state of the art in the field of control theory applied to the design of autonomous unmanned aerial vehicles (UAVs), aka “drones”, employed in a variety of applications. The homogeneous structure allows the reader to transition seamlessly through results in guidance, navigation, and control of UAVs, according to the canonical classification of the main components of a UAV’s autopilot.Each chapter has been written to assist graduate students and practitioners in the fields of aerospace engineering and control theory. The contributing authors duly present detailed literature reviews, conveying their arguments in a systematic way with the help of diagrams, plots, and algorithms. They showcase the applicability of their results by means of flight tests and numerical simulations, the results of which are discussed in detail.Control of Autonomous Aerial Vehicles will interest readers who are researchers, practitioners or graduate students in control theory, autonomous systems or robotics, or in aerospace, mechanical or electrical engineering.
Control of Axially Moving Systems
by Keum-Shik Hong Li-Qun Chen Phuong-Tung Pham Xiao-Dong YangThis book provides a comprehensive guideline on dynamic analysis and vibration control of axially moving systems. First, the mathematical models of various axially moving systems describing the string, beam, belt, and plate models are developed. Accordingly, dynamical issues such as the equilibrium configuration, critical velocity, stability, bifurcation, and further chaotic dynamics are analyzed. Second, this book covers the design of the control schemes based on the hitherto control strategies for axially moving systems: feedback control using the transfer function, variable structure control, control by regulating the axial velocity, wave cancellation approach, boundary control using the Lyapunov method, adaptive control, and hybrid control methods. Finally, according to the contents discussed in the book, specific aspects are outlined for initiating future research endeavors to be undertaken concerning axially moving systems. This book is useful to graduate students and researchers in industrial sectors such as continuous manufacturing systems, transport systems, power transmission systems, and lifting systems not to mention in academia.
Control of Batch Processes
by Cecil L. SmithGives a real world explanation of how to analyze and troubleshoot a process control system in a batch process plant* Explains how to analyze the requirements for controlling a batch process, develop the control logic to meet these requirements, and troubleshoot the process controls in batch processes* Presents three categories of batch processes (cyclical batch, multigrade facilities, and flexible batch) and examines the differences in the control requirements in each* Examines various concepts of a product recipe and what its nature must be in a flexible batch facility* Approaches the subject from the process perspective, with emphasis on the advantages of using structured logic in the automation of all but the simplest batch processes.* Discusses the flow of information starting at the plant floor and continuing through various levels of the control logic up to the corporate IT level
Control of Biological and Drug-Delivery Systems for Chemical, Biomedical, and Pharmaceutical Engineering
by Laurent SimonEnables readers to apply process dynamics and control theory to solve bioprocess and drug delivery problemsThe control of biological and drug delivery systems is critical to the health of millions of people worldwide. As a result, researchers in systems biology and drug delivery rely on process dynamics and control theory to build our knowledge of cell behavior and to develop more effective therapeutics, controlled release devices, and drug administration protocols to manage disease.Written by a leading expert and educator in the field, this text helps readers develop a deep understanding of process dynamics and control theory in order to analyze and solve a broad range of problems in bioprocess and drug delivery systems. For example, readers will learn how stability criteria can be used to gain new insights into the regulation of biological pathways and lung mechanics. They'll also learn how the concept of a time constant is used to capture the dynamics of diffusive processes. Readers will also master such topics as external disturbances, transfer functions, and input/output models with the support of the author's clear explanations, as well as:Detailed examples from the biological sciences and novel drug delivery technologies160 end-of-chapter problems with step-by-step solutionsDemonstrations of how computational software such as MATLAB and Mathematica solve complex drug delivery problemsControl of Biological and Drug-Delivery Systems for Chemical, Biomedical, and Pharmaceutical Engineering is written primarily for undergraduate chemical and biomedical engineering students; however, it is also recommended for students and researchers in pharmaceutical engineering, process control, and systems biology. All readers will gain a new perspective on process dynamics and control theory that will enable them to develop new and better technologies and therapeutics to treat human disease.
Control of Color Imaging Systems: Analysis and Design
by Lalit K. Mestha Sohail A. DianatA Complete One-Stop ResourceWhile digital color is now the technology of choice for printers, the knowledge required to address the quality and productivity issues of these devices is scattered across several technologies, as is its supporting literature. Bringing together information from diverse fields, Control of Color Imaging Systems: Analysis and Design is the first book to provide comprehensive coverage of the fundamentals and algorithms of the numerous disciplines associated with digital color printing in a single resource. The authors review the history of digital printing systems, explore its current status, and explain fundamental concepts, including: digital image formation, sampling, quantization, image coding, spot color calibration, and one- and multi-dimensional tone control of color management systems — including process physics and controls.A Complete Self-Tutorial With Over 150 Design Examples and 120 Exercise ProblemsBased on the authors’ three decades of hands-on technical and teaching experience, the text provides engineers and technicians with an end-to-end understanding of the color printing process, and helps them build a foundation drawn from the diverse disciplines needed to manage and control digital production printers. The control theory and methods presented in this book are state-of-the art for color printing systems; however, coverage of theoretical concepts and mathematics are kept to the basics, as the book is designed to teach hand’s on skills that will allow practitioners to gain an immediate understanding of quality and productivity concerns. The understanding provided will help practitioners build the technical skills needed to help pioneer the next generation of ideas, algorithms, and methods that will further expand the frontier of this rapidly evolving technology.
Control of Cracking in Reinforced Concrete Structures
by Claude Rospar Jean-Michel Torrenti Jacques Cortade Jean-Philippe Dubois Silvano Erlicher François Toutlemonde Jacky Mazars Alain Sellier Philippe Bisch Daniele Chauvel Francis Barre Etienne Gallitre Jean-François CosteThe purpose of this book is to provide guidelines which can extend the existing standards and codes to cover these types of special works, especially those which are massive in nature, taking account of their specific behaviour in terms of cracking and shrinkage together with other important properties such as water/air leak tightness.
Control of Cutting Vibration and Machining Instability: A Time-Frequency Approach for Precision, Micro and Nano Machining
by C. Steve Suh Meng-Kun LiuPresents new developments on machine tool vibration control based on discontinuous dynamical systems Machining instability is a topical area, and there are a wide range of publications that cover the topic. However, many of these previous studies have started by assuming that the behavior of the system can be linearised. Meanwhile, there are many recent advances in the fields of signal processing, nonlinear dynamics, and nonlinear control, all of which are relevant to the machining stability problem. This book establishes the fundamentals of cutting mechanics and machine tool dynamics in the simultaneous time-frequency domain. The new nonlinear control theory developed by the authors that facilitates simultaneous control of vibration amplitude in the time-domain and spectral response in the frequency-domain provides the foundation for the development of a controller architecture universally viable for the control of dynamic instability including bifurcation and chaos. Once parameters underlying the coupling, interaction, and evolution of different cutting states and between the tool and workpiece are established, they can then be incorporated into the architecture to create a control methodology that mitigate machining instability and enable robust, chatter-free machine tool design applicable in particular to high speed micro- and nano-machining. Presents new developments on machine tool vibration control based on discontinuous dynamical systems Provides a clear and concise approach to the understanding and control of machine tool and workpiece vibrations from an alternative view, contributing to an in-depth understanding of cutting dynamics and robust control of machining instability Equips the reader with the knowledge to understand the dynamics of cutting and operation of machine-tool systems in different conditions as well as the concept of cutting instability control Includes data examples in MATLAB coding
Control of Discrete-Time Descriptor Systems: An Anisotropy-based Approach (Studies In Systems, Decision And Control #157)
by Alexey A. Belov Olga G. Andrianova Alexander P. KurdyukovControl of Discrete-Time Descriptor Systems takes an anisotropy-based approach to the explanation of random input disturbance with an information-theoretic representation. It describes the random input signal more precisely, and the anisotropic norm minimization included in the book enables readers to tune their controllers better through the mathematical methods provided. The book contains numerous examples of practical applications of descriptor systems in various fields, from robotics to economics, and presents an information-theoretic approach to the mathematical description of coloured noise. Anisotropy-based analysis and design for descriptor systems is supplied along with proofs of basic statements, which help readers to understand the algorithms proposed, and to undertake their own numerical simulations. This book serves as a source of ideas for academic researchers and postgraduate students working in the control of discrete-time systems. The control design procedures outlined are numerically effective and easily implementable in MATLAB®
Control of Electric Machine Drive Systems
by Seung-Ki SulA unique approach to sensorless control and regulator design of electric drives Based on the author's vast industry experience and collaborative works with other industries, Control of Electric Machine Drive Systems is packed with tested, implemented, and verified ideas that engineers can apply to everyday problems in the field. Originally published in Korean as a textbook, this highly practical updated version features the latest information on the control of electric machines and apparatus, as well as a new chapter on sensorless control of AC machines, a topic not covered in any other publication. The book begins by explaining the features of the electric drive system and trends of development in related technologies, as well as the basic structure and operation principles of the electric machine. It also addresses steady state characteristics and control of the machines and the transformation of physical variables of AC machines using reference frame theory in order to provide a proper foundation for the material. The heart of the book reviews several control algorithms of electric machines and power converters, explaining active damping and how to regulate current, speed, and position in a feedback manner. Seung-Ki Sul introduces tricks to enhance the control performance of the electric machines, and the algorithm to detect the phase angle of an AC source and to control DC link voltages of power converters. Topics also covered are: Vector control Control algorithms for position/speed sensorless drive of AC machines Methods for identifying the parameters of electric machines and power converters The matrix algebra to model a three-phase AC machine in d-q-n axes Every chapter features exercise problems drawn from actual industry experience. The book also includes more than 300 figures and offers access to an FTP site, which provides MATLAB programs for selected problems. The book's practicality and realworld relatability make it an invaluable resource for professionals and engineers involved in the research and development of electric machine drive business, industrial drive designers, and senior undergraduate and graduate students. To obtain instructor materials please send an email to pressbooks@ieee.org To visit this book's FTP site to download MATLAB codes, please click on this link: ftp://ftp.wiley.com/public/sci_tech_med/electric_machine/ MATLAB codes are also downloadable from Wiley Booksupport Site at http://booksupport.wiley.com
Control of Fluid-Containing Rotating Rigid Bodies (Communications in Cybernetics, Systems Science and Engineering)
by Anatoly A. Gurchenkov Mikhail V. Nosov Vladimir I. TsurkovThis book is devoted to the study of the dynamics of rotating bodies with cavities containing liquid. Two basic classes of motions are analyzed: rotation and libration. Cases of complete and partial filling of cavities with ideal liquid and complete filling with viscous liquid are treated. The volume presents a method for obtaining relations betwee
Control of Foodborne Microorganisms
by Vijay K. Juneja John N. SofosPresents the latest research in the control of foodborne pathogens. Emphasizes traditional and emerging techniques as well as current applications for the inactivation of microorganisms to reduce illness and enhance food safety and quality.
Control of Fuel Combustion in Boilers (Studies in Systems, Decision and Control #287)
by Artur O. ZaporozhetsThis book examines key issues in improving the efficiency of small and medium power boiler units by adding control systems for the fuel combustion process. The original models, algorithms, software and hardware of the system developed for controlling the fuel combustion process are presented. In turn, the book presents a methodology for assessing the influence of climatic factors on the combustion process, and proposes new methods for measuring the thermophysical characteristics, which require taking into account the concentration of oxygen in the air. The system developed here was implemented on a boiler of the NIISTU-5 type, which is widely used for heat power engineering in Ukraine and other Eastern European countries. Given its scope, the book offers a valuable asset for researchers and engineers, as well as lecturers and graduate students at higher education institutions dealing with heat engineering equipment.
Control of Ground and Aerial Robots (Intelligent Systems, Control and Automation: Science and Engineering #103)
by Mario Sarcinelli-Filho Ricardo CarelliThe focus of this book is kinematic and dynamic control of a single mobile robot or a group of them. New simple and integrated solutions are presented for tasks of positioning, trajectory tracking and path following. Control of Ground and Aerial Robots synthesizes new results on control of mobile robots developed by M.Sc. and Ph.D. students supervised by the authors. The robots considered are wheeled mobile platforms, with emphasis on differential drive vehicles, and the multirotor aerial robots. Integrated control solutions based on the technique of feedback linearization are proposed to guide either a single robot or a homogeneous/heterogeneous group of mobile robots. Examples on the use of the proposed controllers are also provided. Finally, Control of Ground and Aerial Robots is intended to help graduate and advanced undergraduate students in engineering, as well as researchers in the area of robot control, to design controllers to autonomously guide the more common mobile platforms.
Control of Heavy Metals in the Environment: Advanced Methods and Strategies for Heavy Metal Remediation and Environmental Protection (Advances in Industrial and Hazardous Wastes Treatment)
by Lawrence K. Wang Wang, Mu-Hao Sung Yung-Tse Hung J. Paul ChenOffering broad coverage of advanced principals and applications, Control of Heavy Metals in the Environment mini series provides chemical and environmental engineers with the most complete resource available on the remediation of heavy metal contaminants with an emphasis on advanced and alternative approaches. It investigates a variety of environmental pollution sources and waste characteristics that require a multitude of remediation methods. It then details the latest in clean-tech advances including fungal bioprocesses, and addresses recycling and disposal techniques, as well as metals pollution from the transportation industry. The authors delve into costs and effluent standards and offer several illustrative case histories to illustrate the regional and global effects of key pollution control practices.Features: Provides technical information for industrial and hazardous waste treatment. Discusses the control, treatment, and management of metal emissions from motor vehicles. Explores the newest methods of clean production and waste minimization. Includes numerous figures, tables, examples, and case histories.
Control of Heavy Metals in the Environment: Recent Advances in Metal Toxicity, Pollution Control, and Remediation Techniques (Advances in Industrial and Hazardous Wastes Treatment)
by Lawrence K. Wang Wang, Mu-Hao Sung Yung-Tse Hung J. Paul ChenOffering broad coverage of advanced principals and applications, Control of Heavy Metals in the Environment series provides chemical and environmental engineers with the most complete resource available on the treatment of heavy metal contaminants with an emphasis on advanced and alternative approaches. It investigates a variety of environmental pollution sources and waste characteristics that require a multitude of remediation methods. It covers metal oxide nanoparticle pollution and nanotechnology applications for remediation. The authors delve into costs and effluent standards and offer several illustrative case histories to illustrate the regional and global effects of key pollution control practices.Features: Provides technical information for industrial and hazardous waste treatment. Explores the newest methods of clean production and waste minimization. Covers topics related to environmental geochemistry. Includes numerous figures, tables, examples, and case histories.