“Frontmatter”

The Electrical Engineering Handbook

Ed. Richard C. Dorf
Boca Raton: CRC Press LLC, 2000
Product Manager: Maureen Aller
Project Editor: Ibrey Woodall
Packaging design: Jonathan Pennell

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 Preface

Purpose
The purpose of The Electrical Engineering Handbook, 2nd Edition 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 twelve sections which encompass the field of electrical engineering. The goal is to provide
the most up-to-date information in the classical fields of circuits, signal processing, electronics, electromagnetic
fields, energy devices, systems, and electrical effects and devices, while covering the emerging fields of commu-
nications, digital devices, computer engineering, systems, and biomedical engineering. In addition, the final
section provides a complete compendium of information regarding physical, chemical, and materials data, as
well as widely inclusive information on mathematics.

Organization
The fundamentals of electrical 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 electrical engineer to analyze, design, and predict the behavior of complex electrical
devices, circuits, instruments, and systems. 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 electrical 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 on electronics, circuits, power systems,
instruments, materials, effects and devices, systems, and control, 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 article, of which there are more than 200, is written to enlighten the expert, refresh the knowledge of the
mature engineer, and educate the novice.
The information is organized into twelve major sections. The first eleven sections encompass 118 chapters
and the last section 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 article includes four important and useful categories: defining terms, related topics, 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 or
article. Related Topics are cross-references to related articles. The related topics are provided at the end of each
chapter or article. 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.

© 2000 by CRC Press LLC

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
twelve 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 II: Signal Processing, then Chapter 17: Multidimensional Signal Processing, and then Chapter 17.2:
Video Signal Processing. This tree-and-branch table of contents enables the reader to move up the tree to locate
information on the topic of interest.
Five indexes have been compiled to provide multiple means of accessing information. Three indexes are
listed in alphabetical order: (1) subject index, (2) index of basic equations by title or name, and (3) index of
contributing authors. 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. Two additional indexes
are sequenced by order of appearance: (1) index of key tables of data or information and (2) index of key figures.
The Electrical Engineering Handbook, 2nd Edition 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 Board of Advisors, the publishers, and my editorial
associates. I particularly wish to acknowledge at CRC Press Ron Powers, Publisher; Kristen Peterson, Develop-
mental Editor; and Susan Fox, Senior Project Editor. Finally, I am indebted to the assistance of Sara Hare, who
served as editorial assistant.

Richard C. Dorf
Editor-in-Chief

© 2000 by CRC Press LLC

 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 electrical engineering
and its wide value to social and economic needs, he has written and lectured internationally on the contributions
and advances in electrical engineering.
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 Systems, 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) and Electric Currents, 3rd edition (Wiley, 1996).

© 2000 by CRC Press LLC

 Advisory Board

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 Contents

SECTION I Circuits

Introduction Shu-Park Chan

1 Passive Components
1.1 Resistors Michael Pecht and Pradeep Lall
1.2 Capacitors and Inductors Glen Ballou
1.3 Transformers C. Sankaran
1.4 Electrical Fuses Nick Angelopoulos

2 Voltage and Current Sources

2.1 Step, Impulse, Ramp, Sinusoidal, Exponential, and DC Signals
Richard C. Dorf and Zhen Wan
2.2 Ideal and Practical Sources Clayton R. Paul
2.3 Controlled Sources J. R. Cogdell

3 Linear Circuit Analysis

3.1 Voltage and Current Laws Michael D. Ciletti
3.2 Node and Mesh Analysis J. David Irwin
3.3 Network Theorems Allan D. Kraus
3.4 Power and Energy Norman Balabanian and Theodore A. Bickart
3.5 Three-Phase Circuits Norman Balabanian
3.6 Graph Theory Shu-Park Chan
3.7 Two-Port Parameters and Transformations Norman S. Nise

4 Passive Signal Processing William J. Kerwin

5 Nonlinear Circuits
5.1 Diodes and Rectifiers Jerry L. Hudgins
5.2 Limiters Theodore F. Bogart, Jr.
5.3 Distortion Kartikeya Mayaram
5.4 Communicating with Chaos Michael Peter Kennedy and Géza Kolumbán

6 Laplace Transform
6.1 Definitions and Properties Richard C. Dorf and Zhen Wan
6.2 Applications David E. Johnson

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 7 State Variables: Concept and Formulation Wai-Kai Chen

8 The z-Transform Richard C. Dorf and Zhen Wan

9 T-Π Equivalent Networks Zhen Wan and Richard C. Dorf

10 Transfer Functions of Filters Richard C. Dorf and Zhen Wan

11 Frequency Response Paul Neudorfer

12 Stability Analysis Ferenc Szidarovsky and A. Terry Bahill

13 Computer Software for Circuit Analysis and Design

13.1 Analog Circuit Simulation J. Gregory Rollins
13.2 Parameter Extraction for Analog Circuit Simulation Peter Bendix

SECTION II Signal Processing

Introduction Delores M. Etter

14 Digital Signal Processing

14.1 Fourier Transforms W. Kenneth Jenkins
14.2 Fourier Transforms and Fast Fourier Transform Alexander D. Poularikas
14.3 Design and Implementation of Digital Filters
Bruce W. Bomar and L. Montgomery Smith
14.4 Signal Restoration James A. Cadzow

15 Speech Signal Processing

15.1 Coding, Transmission, and Storage Stan McClellan and Jerry D. Gibson
15.2 Speech Enhancement and Noise Reduction Yariv Epharim
15.3 Analysis and Synthesis Jesse W. Fussell
15.4 Speech Recognition Lynn D. Wilcox and Marcia A. Bush
15.5 Large Vocabulary Continuous Speech Recognition Yuqing Gao, Bhuvana Ramabhadran,
Michael Picheny

16 Spectral Estimation and Modeling

16.1 Spectral Analysis S. Unnikrishna Pillai and Theodore I. Shim
16.2 Parameter Estimation Stella N. Batalama and Dimitri Kazakos
16.3 Kalman Filtering Fred Daum

17 Multidimensional Signal Processing

17.1 Digital Image Processing Edward J. Delp, Jan Allebach, and Charles A. Bouman
17.2 Video Signal Processing Sarah A. Rajala
17.3 Sensor Array Processing N. K. Bose and L. H. Sibul
17.4 Video Processing Architectures Wayne Wolf
17.5 MPEG-4 Based Multimedia Information System Ya-Qin Zhang

18 VLSI for Signal Processing

18.1 Special Architectures Keshab K. Parhi
18.2 Signal Processing Chips and Applications Rulph Chassaing and Bill Bitler

19 Acoustic Signal Processing

18.1 Digital Signal Processing in Audio and Electroacoustics Juergen Schroeter
18.2 Underwater Acoustical Signal Processing Sanjay K. Mehta and G. Clifford Carter

© 2000 by CRC Press LLC

20 Artificial Neural Networks Jose C. Principe

21 Computing Environments for Digital Signal Processing Delores M. Etter

SECTION III Electronics

Introduction John W. Steadman

22 Semiconductors
22.1 Physical Properties Gennady Sh. Gildenblat and Boris Gelmont
22.2 Diodes Miram Milkovic
22.3 Electrical Equivalent Circuit Models and Device Simulators for Semiconductor Devices
Aicha Elshabini-Riad, F. W. Stephenson, and Imran A. Bhutta
22.4 Electrical Characterization of Semiconductors David C. Look

23 Semiconductor Manufacturing
23.1 Processes Harold G. Parks
23.2 Testing Wayne Needham
23.3 Electrical Characterization of Interconnections S. Rajaram
23.4 Process Modeling and Simulation Conor Rafferty

24 Transistors
24.1 Junction Field-Effect Transistors Sidney Soclof
24.2 Bipolar Transistors Joseph Watson
24.3 The Metal-Oxide Semiconductor Field-Effect Transistor (MOSFET) John R. Brews

25 Integrated Circuits
25.1 Integrated Circuit Technology Joe E. Brewer
25.2 Layout, Placement, and Routing Mehdi R. Zargham and Spyros Tragoudas
25.3 Application-Specific Integrated Circuits Stuart Tewksbury

26 Surface Mount Technology Glenn R. Blackwell

27 Operational Amplifiers
27.1 Ideal and Practical Models E. J. Kennedy
27.2 Applications John V. Wait

28 Amplifiers
28.1 Large Signal Analysis Gordon L. Carpenter
28.2 Small Signal Analysis John Choma, Jr.

29 Active Filters
29.1 Synthesis of Low-Pass Forms Robert E. Massara
29.2 Realization J. W. Steadman and B. M. Wilamowski
29.3 Generalized Impedance Convertors and Simulated Impedances James A. Svoboda

30 Power Electronics
30.1 Power Semiconductor Devices Kaushik Rajashekara
30.2 Power Conversion Kaushik Rajashekara
30.3 Power Supplies Ashoka K. S. Bhat
30.4 Converter Control of Machines Bimal K. Bose

© 2000 by CRC Press LLC

31 Optoelectronics
31.1 Lasers Jeff Hecht
31.2 Sources and Detectors Laurence S. Watkins
31.3 Circuits R. A. Becker

32 D/A and A/D Converters Susan A. R. Garrod

33 Thermal Management of Electronics Avram Bar-Cohen

34 Digital and Analog Electronic Design Automation Allen Dewey

SECTION IV Electromagnetics

Introduction Banmali S. Rawat

35 Electromagnetic Fields Jin Au Kong

36 Magnetism and Magnetic Fields

36.1 Magnetism Geoffrey Bate
36.2 Magnetic Recording Mark H. Kryder

37 Wave Propagation
37.1 Space Propagation Matthew N. O. Sadiku
37.2 Waveguides Kenneth Demarest

38 Antennas
38.1 Wire N. J. Kolias and R. C. Compton
38.2 Aperture J. Patrick Fitch
38.3 Microstrip Antennas David M. Pozar

39 Microwave Devices
39.1 Passive Microwave Devices Michael B. Steer
39.2 Active Microwave Devices Robert J. Trew

40 Compatibility
40.1 Grounding, Shielding, and Filtering Leland H. Hemming
40.2 Spectrum, Specifications, and Measurement Techniques
Vichate Ungvichian and John M. Roman
40.3 Lightning Martin Uman and Marcos Rubinstein

41 Radar
41.1 Pulse Radar Melvin L. Belcher and Josh T. Nessmith
41.2 Continuous Wave Radar James C. Wiltse

42 Lightwave
42.1 Lightwave Waveguides Samuel O. Agbo
42.2 Optical Fibers and Cables Allen H. Cherin and Basant K. Tariyal

43 Solid State Circuits I. J. Bahl

44 Three-Dimensional Analysis C. W. Trowbridge

45 Computational Electromagnetics E. K. Miller

© 2000 by CRC Press LLC

SECTION V Electrical Effects and Devices

Introduction Lyle D. Feisel

46 Electroacoustic Devices Peter H. Rogers

47 Surface Acoustic Wave Filters Donald C. Malocha

48 Ultrasound Gerald W. Farnell

49 Ferroelectric and Piezoelectric Materials K. F. Etzold

50 Electrostriction V. Sundar and R. E. Newnham

51 Piezoresistivity Ahmed Amin

52 The Hall Effect Alexander C. Ehrlich

53 Superconductivity Kevin A. Delin and Terry P. Orlando

54 Pyroelectric Materials and Devices Roger W. Whatmore

55 Dielectrics and Insulators R. Bartnikas

56 Sensors Rosemary L. Smith

57 Magnetooptics David Young and Yuan Pu

58 Smart Materials P. S. Neelakanta

SECTION VI Energy

Introduction William H. Kersting

59 Conventional Power Generation George G. Karady

60 Power Systems and Generation

60.1 Distributed Power Generation R. Ramakumar
60.2 Photovoltaic Solar Cells Allen M. Barnett and Lawrence L. Kazmerski
60.3 Thermophotovoltaics John P. Benner and Timothy J. Coutts

61 Transmission
61.1 Alternating Current Overhead: Line Parameters, Models, Standard Voltages, Insulators
Mo-Shing Chen
61.2 Alternating Current Underground: Line Parameters, Models, Standard Voltages, Cables
Mo-Shing Chen and K. C. Lai
61.3 High-Voltage Direct-Current Transmission Rao S. Thallam
61.4 Compensation Mohamed E. El-Hawary
61.5 Fault Analysis in Power Systems Charles Gross
61.6 Protection Arun G. Phadke

© 2000 by CRC Press LLC

 61.7 Transient Operation of Power Systems R. B. Gungor
61.8 Planning J. Duncan Glover

62 Power Quality Jos Arrillaga

63 Power Systems
63.1 Power System Analysis L.L. Grigsby and A.P. Hanson
63.2 Voltage Instability R.A. Schlueter and N. Alemadi

64 Power Transformers Charles A. Gross

65 Energy Distribution George G. Karady

66 Electrical Machines
66.1 Generators Chen-Ching Liu, Khoi Tien Vu, and Yixin Yu
66.2 Motors Donald Galler
66.3 Small Electric Motors Elias G. Strangas
66.4 Simulation of Electric Machinery Chee-Mun Ong

67 Energy Management K. Neil Stanton, Jay C. Giri, and Anjan Bose

68 Power System Analysis Software C. P. Arnold and N. R. Watson

SECTION VII Communications

Introduction Leonard Shaw

69 Broadcasting
69.1 Modulationa nd Demodulation Richard C. Dorf and Zhen Wan
69.2 Radio Broadcasting Jefferson F. Lindsey III and Dennis F. Doelitzsch
69.3 Television Systems Jerry Whitaker
69.4 High-Definition Television Martin S. Roden
69.5 Digital Audio Broadcasting Stanley Salek and Almon H. Clegg

70 Digital Communication
70.1 Error Control Coding Richard C. Dorf and Zhen Wan
70.2 Equalization Richard C. Dorf and Zhen Wan
70.3 Spread Spectrum Communications L. B. Milstein and M. K. Simon

71 Optical Communication
71.1 Lightwave Technology for Video Transmission T. E. Darcie
71.2 Long Distance Fiber Optic Communications Joseph C. Palais
71.3 Photonic Networks Ivan P. Kaminow

72 Networks
72.1 B-ISDN Manfred N. Huber
72.2 Computer Communications Networks J. N. Daigle
72.3 Local-Area Networks Joseph Bannister and Mario Gerla
72.4 The Intelligent Network Richard B. Robrock II

73 Information Theory
73.1 Signal Detection H. Vincent Poor
73.2 Noise Carl G. Looney

© 2000 by CRC Press LLC

 73.3 Stochastic Processes Carl G. Looney
73.4 The Sampling Theorem R. J. Marks II
73.5 Channel Capacity Sergio Verdú
73.6 Data Compression Joy A. Thomas and Thomas M. Cover

74 Satellites and Aerospace Daniel F. DiFonzo

75 Personal and Office

75.1 Mobile Radio and Cellular Communications William C. Y. Lee
75.2 Facsimile Rodger E. Ziemer
75.3 Wireless Local-Area Networks for the 1990s Mil Ovan
75.4 Wireless PCS Giridhar D. Mandyam

76 Phase-Locked Loop Steven L. Maddy

77 Telemetry Conrad H. Hoeppner

78 Computer-Aided Design and Analysis of Communication Systems

William H. Tranter and Kurt L. Kosbar

SECTION VIII Digital Devices

Introduction Richard S. Sandige

79 Logic Elements
79.1 IC Logic Family Operation and Characteristics Gregory L. Moss
79.2 Logic Gates (IC) Peter Graham
79.3 Bistable Devices Richard S. Sandige
79.4 Optical Devices H. S. Hinton

80 Memory Devices
80.1 Integrated Circuits (RAM, ROM) W. David Pricer
80.2 Basic Disk System Architectures Randy H. Katz
80.3 Magnetic Tape Peter A. Lee
80.4 Magneto-Optical Disk Data Storage M. Mansuripur

81 Logical Devices
81.1 Combinational Networks and Switching Algebra Franco P. Preparata
81.2 Logic Circuits Richard S. Sandige
81.3 Registers and Their Applications B. R. Bannister and D. G. Whitehead
81.4 Programmable Arrays Martin Bolton
81.5 Arithmetic Logic Units Bill D. Carroll

82 Microprocessors
82.1 Practical Microprocessors John Staudhammer and Sue-Ling Chen
82.2 Applications Phillip J. Windley and James F. Frenzel

83 Displays
83.1 Light-Emitting Diodes James E. Morris
83.2 Liquid-Crystal Diodes James E. Morris
83.3 The Cathode Ray Tube André Martin
83.4 Color Plasma Displays Larry F. Weber

© 2000 by CRC Press LLC

84 Data Acquisition Dhammika Kurumbalaptitiya and S. Ratnajeevan H. Hoole

85 Testing
85.1 Digital IC Testing Micaela Serra
85.2 Design for Test Bulent I. Dervisoglu

SECTION IX Computer Engineering

Introduction John V. Oldfield and Vojin G. Oklobdzija

86 Organization
86.1 Number Systems Richard F. Tinder
86.2 Computer Arithmetic Vojin G. Oklobdzija
86.3 Architecture V. Carl Hamacher, Zvonko G. Vranesic, and Safwat G. Zaky
86.4 Microprogramming Jacques Raymond

87 Programming
87.1 Assembly Language James M. Feldman and Edward W. Czeck
87.2 High-Level Languages Ted G. Lewis
87.3 Data Types and Data Structures Johannes J. Martin

88 Memory Systems Doug Burger, James R. Goodman, and Gurindar S. Sohi

89 Input and Output

89.1 Input Devices Solomon Sherr
89.2 Computer Output Printer Technologies Robert C. Durbeck
89.3 Smart Cards Witold Suryn and Michel Veillette

90 Software Engineering
90.1 Tools and Techniques Carl A. Argila
90.2 Testing, Debugging, and Verification Capers Jones
90.3 Programming Methodology Johannes J. Martin

91 Computer Graphics Evelyn P. Rozanski

92 Computer Networks Thomas G. Robertzaai

93 Fault Tolerance Barry W. Johnson

94 Knowledge Engineering
94.1 Databases M. Abdelguerfi and R. Eskicioglu
94.2 Rule-Based Expert Systems Jay Liebowitz

95 Parallel Processors Tse-yun Feng

96 Operating Systems Joseph Boykin

97 Computer Security and Cryptography

97.1 Computer and Communications Security J. Arlin Cooper
97.2 Fundamentals of Cryptography Oded Goldreich

© 2000 by CRC Press LLC

98 Computer Reliability Chris G. Guy

99 The Internet and Its Role in the Future Gary L. Hawke

SECTION X Systems

Introduction R. Lal Tummala

100 Control Systems

100.1 Models William L. Brogan
100.2 Dynamic Response Gordon K. F. Lee
100.3 Frequency Response Methods: Bode Diagram Approach Andrew P. Sage
100.4 Root Locus Benjamin C. Kuo
100.5 Compensation Charles L. Phillips and Royce D. Harbor
100.6 Digital Control Systems Raymond G. Jacquot and John E. McInroy
100.7 Nonlinear Control Systems Derek P. Atherton
100.8 Optimal Control and Estimation John S. Bay and William T. Baumann
100.9 Neural Control Mo-Yuen Chow

101 Robotics
101.1 Robot Configuration Ty A. Lasky and Tien C. Hsia
101.2 Dynamics and Control R. Lal Tummala
101.3 Applications Nicholas Odrey

102 Aerospace Systems

102.1 Avionics Systems Cary R. Spitzer, Daniel A. Martinec, and Cornelius T. Leondes
102.2 Communications Satellite Systems: Applications
Abdul Hamid Rana and William Check

103 Command, Control, and Communications (C 3)

G. Clapp and D. Sworder

104 Industrial Systems

104.1 Welding and Bonding George E. Cook, Kristinn Andersen, and
Robert Joel Barnett
104.2 Large Drives Alan K. Wallace and René Spée
104.3 Robust Systems Mario Sznaier and Ricardo S. Sánchez Peña

105 Man-Machine Systems Duane McRuer

106 Vehicular Systems Linda Sue Boehmer

107 Industrial Illuminating Systems Kao Chen

108 Instruments John L. Schmalzel

109 Navigation Systems Myron Kayton

110 Reliability Engineering R. Rama Kumar

© 2000 by CRC Press LLC

111 Environmental Effects Karen Blades and Braden Allenby

112 Computer-Aided Control Systems Design

C. Magnus Rimvall and Christopher P. Jobling

SECTION XI Biomedical Systems

Introduction Joseph D. Bronzino

113 Bioelectricity
113.1 Neuroelectric Principles J. Patrick Reilly
113.2 Bioelectric Events L. A. Geddes
113.3 Application of Electric and Magnetic Fields in Bone and Soft Tissue Repair
C. Polk

114 Biomedical Sensors Michael R. Neuman

115 Bioelectronics and Instruments

115.1 The Electroencephalogram Joseph D. Bronzino
115.2 The Electrocardiograph Edward J. Berbari
115.3 Pacemakers/Implantable Defibrillators Philip L. Johnson and William M. Smith

116 Medical Imaging

116.1 Tomography M. D. Fox
116.2 Ultrasound Leon A. Frizzell
116.3 Semiconductor Detectors for Radiation Measurements Larry S. Darken and
Ralph B. James

117 Biocomputing
117.1 Clinical Information Systems Luis Kun
117.2 Hospital Information Systems Matthew F. Baretich

118 Computer Design for Biomedical Applications Raymond Luebbers

119 Rehabilitation Engineering, Science, and Technology

119.1 Rehabilitation Concepts
119.2 Engineering Concepts in Sensory Rehabilitation
119.3 Engineering Concepts in Motor Rehabilitation
119.4 Engineering Concepts in Communications Disorders
119.5 Appropriate Technology
119.6 The Future of Engineering in Rehabilitation

SECTION XII Mathematics, Symbols, and Physical Constants

Introduction Ronald J. Tallarida

Greek Alphabet
International System of Units (SI)
Conversion Constants and Multipliers

© 2000 by CRC Press LLC

 Physical Constants
Symbols and Terminology for Physical and Chemical Quantities

Associations and Societies