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MATLAB® for
page i
Engineering
Applications

William J. Palm III

University of Rhode Island
 page ii

MATLAB® FOR ENGINEERING APPLICATIONS

Published by McGraw Hill LLC, 1325 Avenue of the Americas, New York,
NY 10019. Copyright ©2023 by McGraw Hill LLC. All rights reserved.
Printed in the United States of America. No part of this publication may be
reproduced or distributed in any form or by any means, or stored in a
database or retrieval system, without the prior written consent of McGraw
Hill LLC, including, but not limited to, in any network or other electronic
storage or transmission, or broadcast for distance learning.

Some ancillaries, including electronic and print components, may not be

available to customers outside the United States.

This book is printed on acid-free paper.

1 2 3 4 5 6 7 8 9 LCR 27 26 25 24 23 22

ISBN 978-1-265-13919-3
MHID 1-265-13919-9

Cover Image: ©Getty Images/iStockphoto

All credits appearing on page or at the end of the book are considered to be
an extension of the copyright page.

The Internet addresses listed in the text were accurate at the time of
publication. The inclusion of a website does not indicate an endorsement by
the authors or McGraw Hill LLC, and McGraw Hill LLC does not
guarantee the accuracy of the information presented at these sites.
mheducation.com/highered
To my sisters, Linda and Chris, and to my parents, page iii

Lillian and William

 ABOUT THE AUTHOR page iv

William J. Palm III is Emeritus Professor of Mechanical Engineering at

the University of Rhode Island. In 1966 he received a B.S. from Loyola
College in Baltimore, and in 1971 a Ph.D. in Mechanical Engineering and
Astronautical Sciences from Northwestern University in Evanston, Illinois.
During his 44 years as a faculty member, he taught 19 courses. One of
these is a freshman MATLAB course, which he helped develop. He has
authored eight textbooks dealing with modeling and simulation, system
dynamics, control systems, and MATLAB. These include System Dynamics,
4th ed. (McGraw Hill, 2021). He wrote a chapter on control systems in the
Mechanical Engineers’ Handbook, 3rd ed. (M. Kutz, ed., Wiley, 2016), and
was a special contributor to the fifth editions of Statics and Dynamics, both
by J. L. Meriam and L. G. Kraige (Wiley, 2002).
Professor Palm’s research and industrial experience are in control
systems, robotics, vibrations, and system modeling. He was the Director of
the Robotics Research Center at the University of Rhode Island from 1985
to 1993, and is the coholder of a patent for a robot hand. He served as
Acting Department Chair from 2002 to 2003. His industrial experience is in
automated manufacturing; modeling and simulation of naval systems,
including underwater vehicles and tracking systems; and design of control
systems for underwater-vehicle engine-test facilities.
 CONTENTS page v

Numbered Examples vii

Preface ix

CHAPTER 1
An Overview of MATLAB® 3
1.1 MATLAB Interactive Sessions 4
1.2 The Toolstrip 17
1.3 Built-In Functions, Arrays, and Plots 18
1.4 Working with Files 24
1.5 The MATLAB Help System 32
1.6 Problem-Solving Methodologies 35
1.7 Summary 42
Problems 43

CHAPTER 2
Numeric, Cell, and Structure Arrays 51
2.1 One- and Two-Dimensional Numeric Arrays 52
2.2 Multidimensional Numeric Arrays 61
2.3 Element-by-Element Operations 62
2.4 Matrix Operations 72
2.5 Polynomial Operations Using Arrays 91
2.6 Cell Arrays 96
2.7 Structure Arrays 98
2.8 Summary 102
Problems 103

CHAPTER 3
Functions 121
3.1 Elementary Mathematical Functions 121
3.2 User-Defined Functions 128
3.3 Additional Function Types 143
3.4 File Functions 158
3.5 Summary 160
Problems 161

CHAPTER 4
Programming with MATLAB 169
4.1 Program Design and Development 170
4.2 Relational Operators and Logical Variables 177
4.3 Logical Operators and Functions 179
4.4 Conditional Statements 186
4.5 for Loops 194
4.6 while Loops 206
4.7 The switch Structure 212
4.8 Debugging MATLAB Programs 214
4.9 Additional Examples and Applications 217
4.10 Summary 231
Problems 232

CHAPTER 5
Advanced Plotting 251
5.1 xy Plotting Functions 251
5.2 Additional Commands and Plot Types 261
5.3 Interactive Plotting in MATLAB 278
5.4 Three-Dimensional Plots 280
5.5 Summary 286
Problems 287

CHAPTER 6
Model Building and Regression 299
6.1 Function Discovery 299
6.2 Regression 310
6.3 The Basic Fitting Interface 326
6.4 Summary 329
Problems 330

7
page vi
CHAPTER
Statistics, Probability, and Interpolation 341
7.1 Statistics and Histograms 342
7.2 The Normal Distribution 346
7.3 Random Number Generation 352
7.4 Interpolation 361
7.5 Summary 370
Problems 370

CHAPTER 8
Linear Algebraic Equations 379
8.1 Matrix Methods for Linear Equations 380
8.2 The Left-Division Method 383
8.3 Underdetermined Systems 389
8.4 Overdetermined Systems 398
8.5 A General Solution Program 402
8.6 Summary 404
Problems 405

CHAPTER 9
Numerical Methods for Calculus and Differential Equations
419
9.1 Numerical Integration 420
9.2 Numerical Differentiation 428
9.3 First-Order Differential Equations 431
9.4 Higher-Order Differential Equations 439
9.5 Special Methods for Linear Equations 445
9.6 Summary 458
Problems 459

CHAPTER 10
Simulink 471
10.1 Simulation Diagrams 472
10.2 Introduction to Simulink 473
10.3 Linear State-Variable Models 478
10.4 Piecewise-Linear Models 481
10.5 Transfer-Function Models 487
10.6 Nonlinear State-Variable Models 489
10.7 Subsystems 491
10.8 Dead Time in Models 496
10.9 Simulation of a Nonlinear Vehicle Suspension Model 499
10.10 Control Systems and Hardware-in-the-Loop Testing 503
10.11 Summary 513
Problems 514

CHAPTER 11
Symbolic Processing with MATLAB 525
11.1 Symbolic Expressions and Algebra 527
11.2 Algebraic and Transcendental Equations 536
11.3 Calculus 543
11.4 Differential Equations 555
11.5 Laplace Transforms 562
11.6 Symbolic Linear Algebra 570
11.7 Summary 575
Problems 576

CHAPTER 12
Projects with Matlab 589
12.1 MATLAB Mobile 590
12.2 Programming Game Projects in MATLAB 595
12.3 The MATLAB App Designer 600

APPENDIX A
Guide to Commands and Functions in This Text 603

APPENDIX B
Animation and Sound in MATLAB 615

APPENDIX C
References 626
APPENDIX D
Formatted Output in MATLAB 627
Answers to Selected Problems 631
Index 634
Numbered Examples page vii

Number and Topic

CHAPTER ONE
1.1–1 Volume of a Circular Cylinder
1.6–1 Piston Motion
CHAPTER TWO
2.3–1 Vectors and Displacement
2.3–2 Aortic Pressure Model
2.3–3 Transportation Route Analysis
2.3–4 Current and Power Dissipation in Resistors
2.3–5 A Batch Distillation Process
2.4–1 Miles Traveled
2.4–2 Height versus Velocity
2.4–3 Manufacturing Cost Analysis
2.4–4 Product Cost Analysis
2.4–5 Force Analysis of a 3-Bar Simple Truss
2.4–6 Circuit with Three Resistances
2.4–7 Production Planning
2.4–8 Force Analysis of a Bolt
2.4–9 Computing Forces and Moments on a Tower
2.5–1 Earthquake-Resistant Building Design
2.6–1 An Environment Database
2.7–1 A Student Database
CHAPTER THREE
3.2–1 Minimum Cost Design of a Water Tower
3.2–2 Optimization of an Irrigation Channel
3.3–1 Extra Parameters in fzero and fminbnd
3.3–2 An Intercept Course
3.3–3 Topping the Green Monster
3.3–4 Speed Estimation from Sonar Measurements
3.4–1 Creating a Data File and Loading It into a Variable
CHAPTER FOUR
4.3–1 Height and Speed of a Projectile
4.5–1 Series Calculation with a for Loop
4.5–2 Plotting with a for Loop
4.5–3 Analyzing Trajectories
4.5–4 Motion in One Dimension
4.5–5 Data Sorting
4.6–1 Series Calculation with a while Loop
4.6–2 Growth of a Bank Account
4.6–3 Structural Analysis
4.7–1 Using the switch Structure for Calendar Calculations
4.9–1 A Pursuit Curve
4.9–2 Flight of an Instrumented Rocket
4.9–3 Time to Reach a Specified Height
4.9–4 A College Enrollment Model: Part I
4.9–5 A College Enrollment Model: Part II
CHAPTER FIVE
5.1–1 Plotting Trajectories
5.2–1 Fishing Near an International Boundary
5.2–2 Plotting Orbits
CHAPTER SIX
6.1–1 Speed Estimation from Sonar Measurements
6.1–2 Temperature Dynamics
6.1–3 Hydraulic Resistance
6.1–4 A Cantilever Beam Model
6.2–1 Effect of Polynomial Degree

6.2–2 Estimation of Traffic Flow page viii

6.2–3 Modeling Bacteria Growth
6.2–4 Breaking Strength and Alloy Composition
6.2–5 Response of a Biomedical Instrument
6.2–6 Fitting the Logistic Model
CHAPTER SEVEN
7.1–1 Breaking Strength of Thread
7.2–1 Mean and Standard Deviation of Heights
7.2–2 Estimation of Height Distribution
7.3–1 Statistical Analysis and Manufacturing Tolerances
7.3–2 A Random Walk with Drift
CHAPTER EIGHT
8.1–1 The Matrix Inverse Method
8.2–1 Left-Division Method with Three Unknowns
8.2–2 Calculation of Cable Tension
8.2–3 An Electric Resistance Network
8.2–4 Ethanol Production
8.3–1 An Underdetermined Set with Three Equations and Three
Unknowns
8.3–2 A Statically Indeterminate Problem
8.3–3 Three Equations in Three Unknowns
8.3–4 Production Planning
8.3–5 Traffic Engineering
8.4–1 The Least-Squares Method
8.4–2 An Overdetermined Set
CHAPTER NINE
9.1–1 Velocity from an Accelerometer
9.1–2 Evaluation of Fresnel’s Cosine Integral
9.1–3 Double Integral over a Nonrectangular Region
9.3–1 Response of an RC Circuit
9.3–2 Liquid Height in a Spherical Tank
9.4–1 Pursuit Equations
9.4–2 A Nonlinear Pendulum Model
9.5–1 Trapezoidal Profile for a DC Motor
CHAPTER TEN
10.2–1 Simulink Solution of y ˙ = −10y + f(t)
10.3–1 Simulink Model of a Two-Mass Suspension System
10.4–1 Simulink Model of a Rocket-Propelled Sled
10.4–2 Model of a Relay-Controlled Motor
10.5–1 Response with a Dead Zone
10.6–1 Model of a Nonlinear Pendulum
CHAPTER ELEVEN
11.2–1 Intersection of Two Circles
11.2–2 Positioning a Robot Arm
11.3–1 Topping the Green Monster
 PREFACE page ix

F
ormerly used mainly by specialists in signal processing and numerical
analysis, MATLAB® has achieved widespread and enthusiastic
acceptance throughout the engineering community. Many engineering
schools require a course based entirely or in part on MATLAB early in the
curriculum. MATLAB is programmable and has the same logical,
relational, conditional, and loop structures as other programming languages.
Thus it can be used to teach programming principles. In most engineering
schools, MATLAB is the principal computational tool used throughout the
curriculum. In some technical specialties, such as signal processing and
control systems, it is the standard software package for analysis and design.
The popularity of MATLAB is partly due to its long history, and thus it is
well developed and well tested. People trust its answers. Its popularity is
also due to its user interface, which provides an easy-to-use interactive
environment that includes extensive numerical computation and
visualization capabilities. Its compactness is a big advantage. For example,
you can solve a set of many linear algebraic equations with just three lines
of code, a feat that is impossible with traditional programming languages.
MATLAB is also extensible; currently more than 30 “toolboxes” in various
application areas can be used with MATLAB to add new commands and
capabilities.
MATLAB is available for a number of operating systems. It is
compatible across all these platforms, which enables users to share their
programs, insights, and ideas. This text is based on release R2021a of the
software. This includes MATLAB version 9.10. Some of the material in
Chapter 9 is based on the Control System toolbox, Version 10.10. Chapter
10 is based on Version 10.3 of Simulink®, and Chapter 11 is based on
Version 8.7 of the Symbolic Math toolbox.

TEXT OBJECTIVES AND PREREQUISITES

This text is intended as a stand-alone introduction to MATLAB. It can be
used in an introductory course, as a self-study text, or as a supplementary
text. The text’s material is based on the author’s experience in teaching a
required two-credit semester course devoted to MATLAB for engineering
freshmen. In addition, the text can serve as a reference for later use. The
text’s many tables and its referencing system in an appendix have been
designed with this purpose in mind. A secondary objective is to introduce
and reinforce the use of problem-solving methodology as practiced by the
engineering profession in general and as applied to the use of computers to
solve problems in particular. This methodology is introduced in Chapter 1.

The reader is assumed to have some knowledge of algebra and page x

trigonometry; knowledge of calculus is not required for the first eight
chapters. Some knowledge of high school chemistry and physics, primarily
simple electric circuits, and basic statics and dynamics, is required to
understand some of the examples.

TEXT ORGANIZATION
In addition to updating material from the previous edition to include new
features, new functions, and changes in syntax and function names, the text
incorporates the many suggestions made by reviewers and other users.
More examples and homework problems have been added.
The text consists of 12 chapters. The first five chapters constitute a basic
course in MATLAB. The remaining seven chapters are independent of each
other and cover more advanced applications of MATLAB, the Control
Systems toolbox, Simulink, and the Symbolic Math toolbox.
Chapter 1 gives an overview of MATLAB features, including its
windows and menu structures. It also introduces the problem-solving
methodology.
Chapter 2 introduces the concept of an array, which is the fundamental
data element in MATLAB, and describes how to use numeric arrays, cell
arrays, and structure arrays for basic mathematical operations.
Chapter 3 discusses the use of functions and files. MATLAB has an
extensive number of built-in math functions, and users can define their own
functions and save them as a file for reuse.
Chapter 4 introduces programming with MATLAB and covers relational
and logical operators, conditional statements, for and while loops, and the
switch structure.
Chapter 5 deals with two- and three-dimensional plotting. It first
establishes standards for professional-looking, useful plots. In the author’s
experience, beginning students are not aware of these standards, so they are
emphasized. The chapter then covers MATLAB commands for producing
different types of plots and for controlling their appearance. The Live
Editor, which is a major addition to MATLAB, is covered in Section 5.1.
Chapter 6 covers function discovery, which uses data plots to discover a
mathematical description of the data and is a useful tool for model building.
It is a common application of plotting, and a separate section is devoted to
this topic. The chapter also treats polynomial and multiple linear regression
as part of its modeling coverage.
Chapter 7 reviews basic statistics and probability and shows how to use
MATLAB to generate histograms, perform calculations with the normal
distribution, and create random number simulations. The chapter concludes
with linear and cubic spline interpolation.
Chapter 8 covers the solution of linear algebraic equations, which arise in
applications in all fields of engineering. This coverage establishes the
terminology and some important concepts required to use the computer
methods properly. The chapter then shows how to use MATLAB to solve
underdetermined and overdetermined systems of linear equations.

Chapter 9 covers numerical methods for calculus and differential page xi

equations. Numerical integration and differentiation methods are
treated. Ordinary differential equation solvers in the core MATLAB
program are covered, as well as the linear system solvers in the Control
System toolbox. For those readers not familiar with differential equations,
this chapter provides some background for Chapter 10.
Chapter 10 introduces Simulink, which is a graphical interface for
building simulations of dynamic systems. Simulink has increased in
popularity and has seen increased use in industry. The MathWorks provides
Simulink support packages for computer hardware such as LEGO©
MINDSTORMS©, Arduino©, and Raspberry Pi©, which are popular with
researchers and hobbyists for controlling drones and robots. These packages
let you develop and simulate algorithms that run standalone on the
supported hardware. They include a library of Simulink blocks for
configuring and accessing the hardware’s sensors, actuators, and
communication interfaces. You can also tune parameters live from your
Simulink model while your algorithm runs on the hardware. The
MathWorks supports an active user community online where you can see
applications and download files. Chapter 10 discusses some of the robotic
vehicle applications.
Chapter 11 covers symbolic methods for manipulating algebraic
expressions and for solving algebraic and transcendental equations,
calculus, differential equations, and matrix algebra problems. The calculus
applications include integration and differentiation, optimization, Taylor
series, series evaluation, and limits. Laplace transform methods for solving
differential equations are also introduced. This chapter requires the use of
the Symbolic Math toolbox.
Chapter 12 introduces MATLAB Mobile, which is an application
available from The Mathworks that enables you to connect a mobile device
like a smartphone to a MATLAB session running on the MathWorks
Computing Cloud or on your computer. The chapter shows how to use
smartphone sensors, such as an accelerometer, to collect data in the field.
The chapter also contains some suggestions for course projects, based on
the author’s experience in teaching a freshman MATLAB course. The
chapter concludes with a brief introduction to the MATLAB App Designer.
Appendix A contains a guide to the commands and functions introduced
in the text. Appendix B is an introduction to producing animation and sound
with MATLAB. While not essential to learning MATLAB, these features
are helpful for generating student interest. Appendix C is a list of
references. Appendix D summarizes functions for creating formatted
output. Answers to selected problems and an index appear at the end of the
text.
All figures, tables, equations, and exercises have been numbered
according to their chapter and section. For example, Figure 3.4–2 is the
second figure in Chapter 3, Section 4. This system is designed to help the
reader locate these items. The end-of-chapter problems are the exception to
this numbering system. They are numbered 1, 2, 3, and so on to avoid
confusion with the in-chapter exercises.

NEW TO THIS EDITION

As well as updating the coverage to include changes in MATLAB syntax
and MATLAB screens, this edition includes 20 percent more numbered,
major engineering examples. Also, 30 percent of the chapter problems are
new. A new chapter has been added, Chapter 12 Projects with MATLAB,
which introduces MATLAB Mobile and the MATLAB App Designer, and
which covers programming for game projects in MATLAB.

SPECIAL REFERENCE FEATURES page xii

The text has the following special features, which have been designed to
enhance its usefulness as a reference.
■ Throughout each of the chapters, numerous tables summarize the
commands and functions as they are introduced.
■ Appendix A is a complete summary of all the commands and functions
described in the text, grouped by category, along with the number of the
page on which they are described.
■ At the end of the chapter is a list of the key terms introduced in the
chapter, with a reference to where they are introduced.
■ The index has four sections: a listing of MATLAB symbols, an
alphabetical list of MATLAB commands and functions, a list of
Simulink block names, and an alphabetical list of topics.

PEDAGOGICAL AIDS
The following pedagogical aids have been included:
■ Each chapter begins with an overview.
■ Test Your Understanding exercises appear throughout the chapters near
the relevant text. These relatively straightforward exercises allow
readers to assess their grasp of the material as soon as it is covered. In
most cases the answer to the exercise is given with the exercise.
Students should work these exercises as they are encountered.
■ Each chapter ends with numerous problems, grouped according to the
relevant section.
■ Each chapter contains numerous practical examples. The major
examples are numbered.
■ Each chapter has a summary section that reviews the chapter’s
objectives.
■ Answers to many end-of-chapter problems appear at the end of the text.
These problems are denoted by an asterisk next to their number (for
example, 15*).
Two features have been included to motivate the student toward
MATLAB and the engineering profession:
■ Most of the examples and the problems deal with engineering
applications. These are drawn from a variety of engineering fields and
show realistic applications of MATLAB. A guide to these examples
appears on page vii.

■ The facing page of each chapter contains a photograph of a page xiii

recent engineering achievement that illustrates the challenging
and interesting opportunities that await engineers in the 21st century. A
description of the achievement, its related engineering disciplines, and a
discussion of how MATLAB can be applied in those disciplines
accompanies each photo.

ONLINE RESOURCES
An Instructor’s Manual is available online for instructors who have adopted
this text. This manual contains the complete solutions to all of the Test Your
Understanding exercises and to all of the chapter problems. The text
website also has downloadable files containing the major programs and
PowerPoint slides keyed to the text.

MATLAB INFORMATION
For MATLAB and Simulink product information, please contact:

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA, 01760-2098 USA
Tel: 508-647-7000
Fax: 508-647-7001
E-mail: [email protected]
Web: www.mathworks.com
How to buy: www.mathworks.com/store
ACKNOWLEDGMENTS
Many individuals are due credit for this text. Working with faculty at the
University of Rhode Island in developing and teaching a freshman course
based on MATLAB has greatly influenced this text. Email from many users
contained useful suggestions. The author greatly appreciates their
contributions.
The MathWorks, Inc., has always been very supportive of educational
publishing. I especially want to thank Naomi Fernandes of The MathWorks,
Inc., for her help. Theresa Collins, Maria McGreal, and Beth Bettcher of
McGraw Hill Education and Beth Baugh efficiently handled the manuscript
reviews and guided the text through production.
My sisters, Linda and Chris, have always been there, cheering my efforts.
My parents, Lillian and William, were always there for support before they
passed away. Finally, I want to thank my wife, Mary Louise, and my
children, Aileene, Bill, and Andy, for their understanding and support of
this project over the last 25 years.

William J. Palm III

Kingston, Rhode Island
March 2021

_________
®
MATLAB and Simulink are registered trademarks of The MathWorks, Inc.
page xiv

page xv
 page 1
Engineering in the 21st Century. page 2

..
Remote Exploration

Source: NASA

I
t will be many years before humans can travel to other planets. In the
meantime, unmanned probes have been rapidly increasing our knowledge
of the universe. Their use will increase in the future as our technology
develops to make them more reliable and more versatile. Better sensors are
expected for imaging and other data collection. Improved robotic devices
will make these probes more autonomous, and more capable of interacting
with their environment, instead of just observing it.
NASA’s planetary rover Sojourner landed on Mars on July 4, 1997, and
excited people on Earth while they watched it successfully explore the
Martian surface to determine wheel-soil interactions, to analyze rocks and
soil, and to return images of the lander for damage assessment.
 Then in early 2004, two improved rovers, Spirit and Opportunity, landed
on opposite sides of the planet. In one of the major discoveries of the 21st
century, they obtained strong evidence that water once existed on Mars in
significant amounts. Although planned to operate for only 90 Martian days,
Spirit operated for seven years. The rover likely lost power due to
excessively cold internal temperatures. Opportunity went inactive in 2018,
having already exceeded its planned operational life by many Earth years.
The rover Curiosity used the innovative “skycrane” to land on Mars in
2012 less than 2.4 km (1.5 mi) from its intended target after a 563,000,000
km (350,000,000 mi) journey. It was designed to investigate the Martian
climate and geology; to assess whether the Gale crater ever had an
environment suitable for microbial life, and to determine the habitability of
the site for future human exploration. Curiosity has a mass of 899 kg (1,982
lb) including 80 kg (180 lb) of instruments. The rover is 2.9 m (9.5 ft) long
by 2.7 m (8.9 ft) wide by 2.2 m (7.2 ft) in height. It discovered unexplained
variations in oxygen and methane, and found remnants of an ancient oasis.
Perseverance is a car-sized rover designed to explore the crater Jezero on
Mars. It was launched in July 2020 and successfully landed in February
2021. Perseverance has a design similar to Curiosity, but also carries the
experimental mini-helicopter Ingenuity that was able to fly in the weak
Martian atmosphere. The rover is intended to seek out evidence of former
microbial life, to collect rock and soil samples to store for retrieval by a
future mission, and to test oxygen production from the Martian atmosphere
in support of future crewed missions.
All engineering disciplines were involved with the rover projects. From
the design of the rocket propulsion of the launch vehicles and the calculation
of the interplanetary trajectories, to the design of the rovers’ systems,
MATLAB was used in many of these applications, and it is well suited to
assist designers of future probes and autonomous vehicles like the Mars
rovers. ■

page 3
CHAPTER
 1

An Overview of MATLAB®*
OUTLINE
1.1 MATLAB Interactive Sessions
1.2 The Toolstrip
1.3 Built-In Functions, Arrays, and Plots
1.4 Working with Files
1.5 The MATLAB Help System
1.6 Problem-Solving Methodologies
1.7 Summary
Problems

This chapter covers many of the basic features of MATLAB. After you have
finished this chapter, you will be able to use MATLAB to solve many kinds
of problems. Section 1.1 provides an introduction to MATLAB as an
interactive calculator. Section 1.2 covers the main menus and the Toolstrip.
Section 1.3 introduces built-in functions, arrays, and plots. Section 1.4
discusses how to create, edit, and save MATLAB programs. Section 1.5
introduces the extensive MATLAB Help System and Section 1.6 introduces
the methodology of engineering problem solving, with emphasis on the use
of computers.

How to Use This Book

The book’s chapter organization is flexible enough to accommodate a variety
of users. However, it is important to cover at least the first four chapters, in
that order. Chapter 2 covers arrays, which are the basic building blocks in
MATLAB. Chapter 3 covers file usage, functions built into MATLAB, and
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[296]

Schimkewitsch, Zeitschr. f. wiss. Zool. lix. 1895, p. 46.

[297]

Hatschek, Arb. Zool. Inst. Wien, iii. 1881, p. 79.

[298]

Fraipont, "Le Genre Polygordius," Fauna u. Flora des Golfes v.

Neapel, Monogr. xiv. 1887.

[299]

T. J. Parker, Lessons in Elementary Biology, London, 1891, p. 267,

gives a full account of the anatomy and development of
Polygordius.

[300]

"Die Capitelliden," Fauna u. Flora d. Golfes v. Neapel, Monogr. xvi.

1887, p. 350.

[301]

Encyclopaedia Britannica, 9th ed., Art. "Mollusca," p. 652.

[302]

Benham, "The Post-Larval Stage of Arenicola," J. Mar. Biol. Assoc.

iii. (n.s.) 1893, p. 48.

[303]

The blood is colourless in Syllidae and Nephthydidae.

[304]

Ehlers states that some Eunicidae have green blood.

[305]

Benham, Quart. J. Micr. Sci. xxxix. 1896, p. 1.

[306]

Schaeppi, Jena. Zeit. xxviii. 1894, p. 217.

[307]

Goodrich, Quart. J. Micr. Sci. xxxiv. 1893, p. 387.

[308]

Benham, Quart. J. Micr. Sci. xxxii. 1891, p. 325. See also Bourne
(nephridium of Polynoë), Tr. Linn. Soc. (Zool.), ii. 1883, p. 357;
Meyer, for nephridium of Terebellidae, Sabellidae, and Cirratulidae,
in Mt. Zool. Stat. Neapel, vii. 1887, p. 592.

[309]

It is worthy of note that in Aeolosoma alone amongst the

Oligochaeta does the brain lie in the prostomium in the adult.

[310]

Andrews, "The Eyes of Polychaetes," J. Morph. vii. 1892, p. 169.

[311]

Wistinghausen, "Entwick. v. N. dumerilii," Mt. Zool. Stat. Neapel, x.

1891, p. 41.

[312]

This is a modification of the classification proposed by me at the

meeting of the British Association at Oxford, 1894 (see Report, p.
696). For further characteristics of these Orders and sub-Orders
see below Chap. XII. Ehlers, "Die Borstenwürmer," 1864, gives a
historical survey of the group, and enumerates the earlier
classifications.

[313]

In Coabangia (see p. 284) the anus is near the anterior end, on the
ventral surface.
[314]

It is doubtful whether these organs are palps or only lateral lips.

[315]

Pruvot traced the nerve supply to these organs, and thus

established their homology. Arch. d. Zool. Expér. (ser. 2) iii. 1885,
p. 211.

[316]

Meyer, "Stud. ub. d. Körperbau der Anneliden," Mt. Zool. Stat.

Neapel, vii. 1887, p. 592; viii. 1888, p. 462. In this work a great
number of important and interesting anatomical facts are recorded
with respect to the Terebelliformia and Sabelliformia, as well as
certain details as to the structure and development of the
nephridia.

[317]

In some of the members of this family paired lateral tentacles

appear to exist.

[318]

It is possible that some of these may be peristomial.

[319]

Individual cases in which chaetae are present have been

recorded.

[320]

Meyer, loc. cit.

[321]

Haswell, P. Linn. Soc. N.S. Wales, vii. 1883, p. 251.

[322]
Eisig, "Die Capitelliden," Fauna u. Flora G. v. Neapel, Monogr. xvi.
1887, p. 331.

[323]

Compare with this the muscular organ of Dinophilus, p. 243,

Protodrilus, and a similar structure which occurs in Terebellids.

[324]

Korschelt, "Über Ophryotrocha puerilis," Zeitschr. f. wiss. Zool. lv.

1893, p. 224.

[325]

Eisig, Mt. Zool. Stat. Neapel, ii. 1881, p. 255.

[326]

They are specially large also in the Typhloscolecidae; while

Racovitza (Ann. Mag. N. H. (ser. 6), xv. 1895, p. 279) has recently
suggested that the caruncle of Amphinomidae belongs to the
category of nuchal organs, and compares it with the ciliated
lappets of Pterosyllis.

[327]

Ehlers, Zeitschr. f. wiss. Zool. liii. 1892, p. 217.

[328]

See Claparède and Metschnikoff, "Beit. zur Kennt. d. Entwick der

Chaetopoden," Zeitschr. f. wiss. Zool. xix. 1869, p. 163; and
Fewkes, "On the Development of certain Worm Larvae," Bulletin
Mus. Harvard, xi. 1883, p. 167.

[329]

For an account of the anatomy and development of a

Trochosphere, see Hatschek, on Eupomatus, in Arbeit. Zool. Inst.
Wien, vi. 1885. Also Meyer, Mt. Zool. Stat. Neapel, viii. 1888, p.
462; and for Polynoid larva see Häcker, Zool. Jahrb. Abth. Anat.
viii. 1895, p. 245.

[330]

See Meyer (ref. on p. 261).

[331]

Many of the Polynoids are sexually dimorphic.

[332]

Claparède, "Annélides Chétopodes du Golfe de Naples,"

Supplement, 1870; and Wistinghausen, Mt. Zool. Stat. Neapel, x.
1891, p. 41.

[333]

Claparède used the term "epigamous" for this phase; Ehlers

employed the term "epitokous," whilst he called the "Nereid" phase
"atokous," under the impression that the worm did not become
mature in this condition.

[334]

Malaquin gives a detailed account of the asexual reproduction in

Syllidae in Recherches sur les Syllidiens, Lille, 1893, and in Revue
Biol. d. Nord de la France, iii. 1891. See also St. Joseph, "Les
annelides polychétes des côtes de Dinard," Ann. Sci. Nat. Zool.
(7th ser.) i. 1886, p. 134.

[335]

Alex. Agassiz, Boston J. Nat. Hist. vii. 1863, p. 384.

[336]

Huxley, Edinb. New Philosoph. Journ. 1855, i. p. 113.

[337]
"Challenger" Reports, vol. xii. 1885, "Polychaeta," p. 198; and Oka,
Zoolog. Centralbl. ii. 1895, p. 591.

[338]

Two new heads have been observed in Typosyllis variegata by

Langerhans, and two new tails in another Syllis.

[339]

Dalyell, The Powers of the Creator revealed, etc., vol. ii. 1853, p.
225 et seq.

[340]

von Kennel, Arb. Zool. Instit. Würzburg, vi. 1883, p. 259.

[341]

Leidy, Proc. Acad. Nat. Hist. Philadelphia, 1883, p. 204.

[342]

Giard, C. R. Soc. Biol. v. 1893, p. 473.

[343]

See M‘Intosh, Ann. Mag. Nat. Hist. (ser. 4) ii. 1868, p. 276.

[344]

Lankester has suggested that a strong acid is secreted for the

purpose, see Ann. Mag. Nat. Hist. (ser. 4) i. 1868, p. 233.

[345]

M‘Intosh, Ann. Mag. Nat. Hist. (ser. 6) xiii. 1894, p. 1.

[346]

Dalyell, The Powers of the Creator revealed, ii. 1853, p. 217.

[347]
Watson, Journ. R. Mic. Soc. 1890, p. 685; see also Dalyell, loc. cit.
ii. p. 195.

[348]

Schmiedeberg, Mt. Zool. Stat. Neapel, iii. 1882, p. 373.

[349]

For pelagic forms, see Camille Viguier, Arch. de Zool. Expér. (ser.
2) iv. 1886, p. 347; also Reibisch, Die pelag. Phyllodociden u.
Typhloscoleciden d. Plankton Exped. 1895.

[350]

Lankester, Journ. Anat. and Physiol. 1868, p. 114; and 1870, p.

119; see also MacMunn, "On the Chromatology of the Blood in
some Invertebrates," Quart. J. Micr. Sci. xxv. 1885, p. 469.

[351]

For coloured pictures of worms consult Schmarda, "Neue

wirbellose Thiere," 2nd part, 1861; Milne Edwards in Cuvier's
"Règne Animal" (Ed. Disciples de Cuvier).

[352]

Semper, Animal Life, "Internat. Sci. Series," 1881, p. 401.

[353]

The experiments were made by Mr. Garstang at the Laboratory of

the Marine Biological Association, and are recorded by Poulton in
The Colours of Animals, "Internat. Sci. Series," 1890, p. 201.

[354]

Panceri, Atti Acad. Sci. Napoli, vii. 1875.

[355]

M‘Intosh, H.M.S. "Challenger" Reports, "Polychaeta," vol. xii. p. ix.

[356]

For an account of these worms see M‘Intosh, loc. cit. p. 257.

[357]

For a list of parasitic Polychaetes see St. Joseph, Ann. Sci. Nat.
(ser. 7) v. 1888, p. 141.

[358]

Semper, loc. cit. p. 340.

[359]

See "Challenger Reports," and St. Joseph, loc. cit.

[360]

"Challenger" Reports, loc. cit. p. xxx.

[361]

See Hornell, Fauna of Liverpool Bay, Report III. 1892, p. 126.

[362]

Zittel, Handbuch d. Palaeontologic (Palaeozoologie), i. 1876-80, p.

562.

[363]

Ehlers, Zeitschr. f. wiss. Zool. xviii. 1868, p. 241.

[364]

The Chaetopteridae may have to be placed elsewhere in the

system, as they are peculiarly modified, and present features
recalling the Cryptocephala, from which it is possible they have
descended.

[365]
Meyer (Mt. Zool. Stat. Neapel, vii. 1887, p. 669, note) suggests
that the tentacular filaments of Cirratulids are really prostomial, but
have shifted back on to the peristomium, or even farther.

[366]

It is probable that the genital ducts of Sternaspis and

Chlorhaemids are modified nephridia.

[367]

The character of head and parapodium in each family will be

gathered from the figures accompanying the general description in
Chap. X., so that detailed description is unnecessary. In all cases
the chaetae form valuable specific characters.

The examples of the various families are British, unless the

opposite is expressly stated; but most of them are not confined to
our shores, and the foreign localities are usually given. No attempt
is made to enumerate all the British species.

The following books may be found useful for identifying the

worms:—

Claparède, Recherches anat. sur les Annélides observées dans les

Hebrides, 1861; Annélides Chétopodes du golfe de Naples, 1868, and
Suppl., 1870.
Cunningham and Ramage, "Polychaeta Sedentaria of the Firth of Forth,"
Trans. Roy. Soc. Edinburgh, xxxiii. 1888, p. 635.
Ehlers, Die Borstenwürmer, 1868.
Johnston, "British Museum Catalogue of Non-Parasitical Worms," 1865.
M‘Intosh, "British Annelida," Trans. Zool. Soc. ix. 1877, p. 371; "Invert.
Marine Fauna of St. Andrews; Annelida," Ann. Mag. Nat. Hist. (4) xiv. 1874,
p. 144.
Malmgren, "Nordiska Hafs-Annulater," Öfversigt af K. Vet.-Akad.
Förhandlingar, 1865, pp. 51, 181, 355; and "Annulata Polychaeta," ibid.
1867, p. 127.
 St. Joseph, "Les Annélides Polychétes des côtes de Dinard," Ann. Sci. Nat.
(Zool.) (7) vol. i. 1886, p. 127; v. 1888, p. 141; xvii. 1894, p. 1; xx. 1895, p.
185.

[368]

Malaquin, Recherches sur les Syllidiens, 1893; for structure of the

gizzard, see also Haswell, Quart. J. Micr. Sci. xxvi. 1886, p. 471;
and xxx. 1889, p. 31.

[369]

See M‘Intosh's Memoirs, loc. cit.

[370]

Herein are included the various genera formed by Kinberg,

Malmgren, and others.

[371]

It appears to be the same as P. grubiana Clap.

[372]

Marenzeller has shown that Johnston's P. scolopendrina is not

identical with that of Savigny, and suggests the above name for it.

[373]

F. Buchanan, "Report on Polychaetes, Part I." Sci. Proc. Roy.

Dublin Soc. vii. (n.s.) 1893, p. 169.

[374]

Polyodontes Ran. deserves mention as being a large, rare form

with peculiar pedal gland; cf. Eisig (ref. on p. 268), p. 324; and
Buchanan, Quart. J. Micr. Sc. xxxv. 1894, p. 433.

[375]

Many authorities regard this species as synonymous with

Savigny's P. laminosa.
[376]

According to a verbal communication from Mr. J. Hornell of Jersey,

they belong to P. maculata Müll., while Mr. Garstang believes them
to belong to Eulalia viridis.

[377]

These segmentally-arranged brown spots may perhaps be

photogenic.

[378]

Greef, Acta Ac. German., xxxix. 1877.

[379]

Greef, Zeitschr. f. wiss. Zool. xlii. 1885, p. 432.

[380]

Buchanan, Quart. J. Micr. Sci. xxxv. 1894, p. 445.

[381]

Buchanan, Sci. Proc. R. Dublin Soc. viii. (n.s.) 1893, p. 169.

[382]

Reibisch, Phyllodociden u. Typhloscoleciden d. Plankton Exped.

1895.

[383]

The British species is usually referred to as C. insignis Baird, but

Joyeux Laffuie (Arch. Zool. Exp. (ser. 2) viii. 1890, p. 244) has
shown that there is only one European species. It is possible that
there is a closer affinity with the Sabelliformia than is at present
supposed.

[384]

Compare Sternaspis, p. 336.

[385]

For literature, see Benham, Quart. J. Micr. Sci. xxxix. part 1, 1896,
p. 1.

[386]

F. Buchanan, Quart. J. Micr. Sci. xxxi. 1890, p. 175.

[387]

In some genera there are no gills, e.g. Leaena.

[388]

These characters are not necessarily generic.

[389]

Eisig, "Die Capitelliden," Fauna u. Flora G. v. Neapel, Monogr. xvi.

1887.

[390]

Ed. Meyer., Arch. mikr. Anat. xxi. 1882, p. 769.

[391]

Vejdovsky, Denk. Akad. Wien, xliii. 1882, part 2, p. 33; and

Rietsch, Ann. Sci. Nat. (Zool.) ser. 6, xiii. 1882, art. 5.

[392]

For anatomy see Meyer, Mt. Zool. Stat. Neapel, vii. 1887.

[393]

Andrews, Journ. Morph. v. 1891, p. 271.

[394]

A. G. Bourne, Quart. J. Micr. Sci. xxiii. 1883, p. 168.

[395]
Closely allied is Manayunkia Leidy, which occurs in fresh-water
lakes of America. Another fresh-water genus is Coabangia Giard,
which perhaps deserves the creation of a special family. The anus
is ventral and anterior. The chaetae are peculiarly arranged, dorsal
uncini being present only on four segments. The first body
segment carries a ventral bundle of five great "palmate" chaetae.

[396]

For the anatomy see Meyer, Mt. Stat. Neapel, vii. 1887; see also
above, p. 306.

[397]

von Graff, "Myzostomida," "Challenger" Reports, part 27, vol. x.

1884; and "Supplement," part 61, vol. xx. 1887.

[398]

Marenzeller, Anz. Akad. Wien, xxxii. p. 192.

[399]

Mt. Zool. Stat. Neapel, xii. 1896, p. 227; where, too, see literature.

[400]

Beard, Mt. Zool. St. Neap. v. 1884, p. 544.

[401]

Quart. J. Micr. Sci. (n.s.) vol. iv. 1864, p. 258; and v. pp. 7, 99.

[402]

Zeitschr. wiss. Zool. xix. 1869, p. 563.

[403]

De Lumbrici terrestris Historia naturali, Brussels, 1829.

[404]
Naturg. ein. Wurm-Arten d. süssen u. salzigen Wasser,
Copenhagen, 1771.

[405]

Trans. Roy. Soc. Victoria, vol. i. 1888, p. 1.

[406]

Phil. Trans. clxxxvi. 1895, A, p. 383.

[407]

Mém. cour. Ac. Belg. lii. 1890-93.

[408]

Quart. J. Micr. Sci. xxxi. 1890, p. 83.

[409]

Beddard, Ibid. xxxiii. 1892, p. 325.

[410]

Beddard, Ann. Mag. Nat. Hist. (6) xiii. 1894, p. 205.

[411]

Mém. Soc. Zool. France, iii. 1890, p. 223.

[412]

Vegetable Mould and Earthworms, London, 1881.

[413]

Zool. Anz. xi. 1888, p. 72.

[414]

See Fletcher, P. Linn. Soc. N.S.W. (2) iii. 1889, p. 1542.

[415]

In Sitzungs-Ber. Böhm. Ges. 1889, p. 183.

[416]

See Dr. Rosa in Ann. Hofmus. Wien, vi. 1891, p. 379.

[417]

Entwickelungsgeschichtliche Untersuchungen, Prag, Heft i. 1888,

p. 33.

[418]

See Kleinenberg, Quart. J. Micr. Sci. xix., 1879, p. 206.

[419]

Both Col. Feilden and Mr. Trevor-Battye found specimens in

Kolguiev.

[420]

Neue wirbellose Thiere, Leipzig, ii. 1861, p. 11.

[421]

Kew Bull. Misc. Information, No. 46, 1890.

[422]

Rev. Biol. Nord France, i. 1889, p. 197.

[423]

SB. Ges. naturf. Berlin, 1893, p. 19.

[424]

System u. Morph. d. Oligochaeten, Prag, 1884.

[425]
See my text-book of Zoogeography (Cambridge, 1895) for fuller
treatment.

[426]

Ann. Mag. Nat. Hist. (6) ix. 1892, p. 12.

[427]

Darwin, Vegetable Mould and Earthworms, p. 121.

[428]

"An Attempt to classify Earthworms," Quart. J. Micr. Sci. xxxi.

1890, p. 201.

[429]

Oxford, 1895.

[430]

See especially Vejdovsky, Syst. u. Morph. Olig. Prag, 1884.

[431]

Vejdovsky, Monographie der Enchytraeiden, Prag, 1879.

Michaelsen, "Synopsis der Enchytraiden," Abh. Ver. Hamburg, xi.
1889, p. 1.

[432]

J. P. Moore, "The Anatomy of Bdellodrilus," J. Morphol. x. 1895, p.

497.

[433]

Beddard, Trans. Roy. Soc. Edin. xxxv. 1890, p. 629, and xxxvi.
1892, p. 1.

[434]
A. G. Bourne, "On the Naidiform Oligochaeta," Quart. J. Micr. Sci.
xxxii. 1891, p. 335.

[435]

F. E. Beddard, Trans. Roy. Soc. Edin. xxxvi. 1892, p. 273.

[436]

Vejdovsky, System u. Morph. d. Oligochaeten, Prag, 1884.

[437]

"Anatomical Notes on Sutroa," Zoe. ii. 1892, p. 321.

[438]

"Pacific Coast Oligochaeta," Mem. California Acad. Sci. vol. ii.

[439]

Quart. J. Micr. Sci. xxxvi. 1894, p. 307.

[440]

See Spencer, Proc. Roy. Soc. Vict. v. 1893, and Fletcher, P. Linn.
Soc. N.S.W. 1886-1888, for Australian forms; Rosa, Ann. Mus. civ.
Genova, vi. 1886, x. 1890, and xii. 1892, for Oriental species, etc.

[441]

See Fletcher and Spencer, already quoted, for Australian species.

[442]

Eisen, "Anat. Studies on Ocnerodrilus," Proc. Calif. Acad. (2) iii.

1892, p. 228.

[443]

Beddard, Ann. Mag. Nat. Hist. (6) x. 1892, p. 74.

[444]
Beddard, P. Z. S. 1885 and 1895, for Antarctic Acanthodrilids;
Michaelsen, in Jahrb. Hamburg. Anst. 1888-95, for Benhamia.

[445]

For a general account of the Eudrilidae, see my Monograph of the

Order Oligochaeta, Oxford, 1895.

[446]

Nouv. Arch. Mus. Paris, viii. 1872, p. 5.

[447]

The scattered literature of this family is due to Benham,

Michaelsen, Perrier, Rosa, and others.

[448]

Rosa, "Revisione dei Lumbricidae," Mem. Acc. Torino (2), xliii.

1893, p. 399; also the Rev. H. Friend's numerous and useful
papers, and especially "A New Species of Earthworms," Proc. Roy.
Irish Ac. (3) ii. 1891-93, p. 402; and "The Earthworms of Ireland,"
Irish Nat. v. 1896, p. 69, etc.

[449]

In the tables the figures refer to the segments of the body.

Opposite the name of each species are two sets of lines; the upper
series indicate the segments occupied by the clitellum; the lower
series those occupied by the tubercula pubertatis. The dots
indicate the occasional extension of the clitellum or of the
tubercula.

[450]

"Annelés," vol. iii. 1889-90, p. 477, in the Suites à Buffon.

[451]

See v. Kennel, Zool. Jahrb. ii. 1887, p. 37.

[452]

Nouvelle Monographie des Sangsues médicinales. Paris, 1857.

[453]

Quart. J. Micr. Sci. xxvi. 1886, p. 317.

[454]

See Grube, "Annulaten" of Middendorff's Sibirische Reise,

Zoology, 1851, p. 20; and Kowalevsky, Bull. Ac. St. Petersb. v.
June 1896.

[455]

See ref. on p. 395.

[456]

Asajiro Oka, Zeitschr. wiss. Zool. lviii. 1894, p. 79.

[457]

See Bürger, quoted on p. 403.

[458]

Loc. cit.

[459]

Quart. J. Micr. Sci. xxiv. 1884, p. 419; see also ibid. xxxiv. 1893, p.
545, which is mainly a criticism of Bolsius' additions to the very
considerable literature upon the Leech nephridium.

[460]

"Spermatophores as a Means of Hypodermic Impregnation," J.

Morphol. iv. 1891, p. 361.

[461]
Zeitschr. wiss. Zool. lviii. 1894, p. 440; and Zool. Jahrb. Anat. iv.
1891, p. 697.

[462]

"Annelés," vol. iii. 1889-90, p. 493, in the Suites à Buffon.

[463]

Whitman quotes with regretful approval (Proc. Americ. Acad. xx.

1884-85, p. 76) Sir J. Dalyell's remark, "It does not appear that the
history of the leech has advanced in proportion to the number of
literati who have rendered it the subject of discussion," and adds
on his own account the following severe indictment of his
predecessors: "As a considerable share of the work done in this
direction is purely systematic, it is somewhat surprising that not a
single description of any Hirudo has been given with sufficient
accuracy and completeness for a close comparison of even its
more important external characters with those of other species."

[464]

"Hirudinées de l'Italie," etc., Boll. Mus. Zool. Torino, vol. ix. 1894,
No. 192. See also Apathy, "Süsswasser-Hirudineen," Zool. Jahrb.
Syst. iii. 1888, p. 725.

[465]

Zeitschr. f. die gesammt. Naturwiss. vi. 1872, p. 422.

[466]

But Pennant in his British Zoology has referred to a leech which is

even larger. Upon the huge Basking shark (Selache) the fishermen
sometimes observe a leech, which invariably drops off when the
fish is brought to the surface, "of a reddish colour and about 2 feet
in length"; this may be a Pontobdella.

[467]

Ann. Mag. Nat. Hist. (6) xii. 1893, p. 75.

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