It has been ten years since I presented the paper entitled "A new model and theory on yield and failure of materials under the complex stress state" at the Sixth Conference on Mechanical Behaviour of Materials held at Kyoto, Japan in 1991. The proceedings edited by Jono and Inoue were published by Pergamon Press in 1991. At that conference Professor Murakami and I were invited to act as the chairperson and co-chairperson of a session, and I presented the paper at another session. Few days before the conference, I had given a seminar regarding the tw- shear strength theory and the unified strength theory at Nagoya Technological University. These were the first two presentations of the unified strength theory, although I had completed the research of the unified strength theory in 1990. The paper "Twin-shear strength theory and its generalization" was published in the English edition of Sciences in China, the top journal in China, in 1985. The th original generalized twin-shear strength theory was presented at the 16 International Theoretical and Applied Mechanics Congress held at Copenhagen in Denmark and MPA (MaterialPrufungsAnstalt) at Stuttgart University, Germany in 1984. After this Congress I visited the MPA and School of Civil Engineering of Stuttgart University, and gave a seminar regarding the generalized twin-shear strength theory at MPA of Stuttgart University. Professor Otto Mohr (1835-1918) has had worked at the Stuttgart University. He was a very good professor, his lectures aroused great interest in his students."

Advanced composite materials have been a major research focus for the past forty years. As a reinforcement for conventional materials including glass, ceramics and polymers, carbon has proved to be the most successful. Carbon gives these materials flexibility so that they may be produced in bulk form with a wide variety of properties. Whereas carbon/carbon composites are the most effective materials in extreme temperature conditions. Application ranges from brakes to missile nose cones. Carbon Reinforcements and Carbon/Carbon Composites gives the present state on this subject in comprehensive form, as well as projections for other "High Tech" materials and their application.

Significant progress has been made in recent years in developing silicon nitride ceramics. The advances that have been achieved are mainly based on an increasing understanding of processing and microstructure-properties relationships. New analytical methods and high resolution transmission electron microscopy (HRTEM) coupled with extensive phase equilibria studies have provided new insights into the grain boundary region and offer the possibility to tailor the microstructure for specific applications. Because of the anticipated break-through in industrial applications there are still considerablt; research activities at industrial laboratories as well as other research centres. This volume presents the contributions to the international workshop "Tailoring ofHigh- Temperature Properties of Si3N4-Ceramics" with 60 participants from 12 countries held on 6th - 9th October 1993 at SchloB Ringberg in Germany, the conference site of the Max- Planck-Society. Additionally, it contains all invited papers of the International Conference "Silicon Nitride 93" held before the workshop on 4th - 6th October 1993 in Stuttgart/Germany. The book covers all recent research activities on silicon nitride ceramics and gives an overview with respect to recent developments.

The development of new materials is recognized as one of the major elements in the overall technological evolution that must go on in order to sustain and even improve the quality of life for citizens of all nations. There are many components to this development, but one is to achieve a better understanding of the properties of materials using the most sophisticated scientific tools that are available. As condensed matter physicists and materials scientists work toward this goal, they find that it is useful to divide their efforts and focus on specific areas, because certain analytical and theoretical techniques will be more useful for the study of one class of materials than another. One such area is the study of metals and metallic alloys, which are used in the manufacture of products as diverse as automobiles and space stations. Progress in this area has been very rapid in recent years, and the new developments come from many different countries. For these reasons the Advanced Research Workshop Programme in the NATO Scientific Affairs Division has seen fit to sponsor several meetings to bring together the researchers and students working in this field from the NATO countries and elsewhere. There have been a series of NATO-ASI's that have dealt with the results of research on the electronic structure of materials and the properties of metals, alloys, and interfaces. They are: "Electrons in finite and infinite structures" P. Phariseau and L.

In this volume a survey of the most relevant nonlinear crack models is provided, with the purpose of analyzing the nonlinear mechanical effects occurring at the tip of macrocracks in quasi-brittle materials - such as concrete, rocks, ceramics, polymers, high-strength metallic alloys - and in brittle-matrix fibre-reinforced composites. Such local effects, as, for example, plastic deformation, yielding, strain-hardening, strain-softening, mechanical damage, matrix microcracking, aggregate debonding, fibre bridging, fibre slippage, crazing, and so on, are properly described through different simplified models, representing the peculiarities of the phenomena involved. The models are introduced and described separately and then compared in the last part of the book. This volume will be of interest to students, professionals and researchers in the field of nonlinear fracture mechanics.

Five questions dominated the ARW on Physics and Materials Science of High Temperature Superconductors, of which this book forms the permanent record. Briefly, these are: (i) How close are we to a unified theory? The consensus is that we are not. (ii) Flux pinning: can it be achieved in bulk materials? Still an open question. The following three questions are related. (iii) Can grain boundary contributions be brought under control? (iv) What is the real requirement for purity and general chemistry control? (v)What is the practical outlook for bulk products - tapes and wires? One of the conclusions is that the geometry and dimensions in thin films are the key parameters that facilitate the realization of high current densities and, consequently, their commercial application. On the other hand, the very large number of poorly understood microstructural, chemical and mechanical variables involved in the preparation of bulk materials are currently prohibiting large scale commercialization of wires and tapes.

FRANCIS W. HOLM 7102 Meadow Lane, Chevy Chase, MD 20815 The North Atlantic Treaty Organization (NATO) sponsored an Advanced Research Workshop (ARW) in Prague, Czech Republic, on 1-2 July 1996, to collect and study information on mobile alternative and supplemental demilitarization technologies and to report these fmdings. The mobile, or transportable, technologies identified for assessment at the workshop are alternatives to incineration technology for destruction of munitions, chemical warfare agent, and associated materials and debris. Although the discussion focused on the treatment of metal parts and explosive or energetic material, requirements for decontamination of other materials were discussed. The mobile alternative technologies are grouped into three categories based on process bulk operating temperature: low (0-200 C), medium (200-600 C), and high (600- 3,500 C). Reaction types considered include hydrolysis, biodegradation, electrochemical oxidation, gas-phase high-temperature reduction, stearn reforming, gasification, sulfur reactions, solvated electron chemistry, sodium reactions, supercritical water oxidation, wet air oxidation, and plasma torch technology. These categories represent a broad spectrum of processes, some of which have been studied only in the laboratory and some of which are in commercial use for destruction of hazardous and toxic wastes. Some technologies have been developed and used for specific commercial applications; however, in all cases, research, development, test, and evaluation (RDT &E) is necessary to assure that each technology application is effective for destroying chemical warfare materiel.

CONJUGATED POLYMERS: THE IMTERPLAY BETWEEN SYNTHESIS, 1 STRUCTURE, AND PROPERTIES C. B. GORMAN and R. H. GRUBBS 1. Introduction 2 2. Structural Features of Conjuqated. Polyaers 3 3. Polymer Synthesis: Basic Methods 4 3. 1 Step-Growth Polymerization 5 3. 2 Chain-Growth Polymerization 6 3. 3 Rinq-Openinq Polymerization 8 4. Direct Synthetic Methods 8 4. 1 Electrochemical Synthesis 9 4. 2 Synthesis by Step-Growth Polymerization 11 4. 2. 1 Polyaniline (PAN) 11 4. 2. 2 Poly(Phenylene Sulfide) 12 4. 2. 3 Poly thiophene and its Derivatives 13 4. 2. 4 Other 5-membered Heterocyclic 16 Derivatives 4. 2. 5 Polyparaphenylene (PPP) 17 4. 2. 6 Polysilanes 18 4. 2. 7 Polymers of Phthalocyanines 19 4. 2. 8 Other Conjugated Metal Coordination 20 Polymers 4. 2. 9 Ladder Polymers 21 4. 3 The Unusual Topochemical Polymerization to 23 form Polydiacetylenes 4. 4 Chain-Growth Polymerizations 24 4. 4. 1 Polyacetylene via Ziegler-Natta 24 Polymerization 4. 4. 2 Ring-Opening Metathesis Polymerization 26 Routes to Polyacetylenes 5. Polymers fro. precursors 27 5. 1 Polyparaphenylene (PPP) 27 5. 2 Poly(Phenylene Vinylene) (PPV) and Other 28 Vinylene Polymers 5. 3 Precursors to Polyacetylene 29 6. Extentions of these Methods in the Synthesis of 31 *saall-Bandqap* Pplymers 7. Conjuqated. Polymer Matrices 33 8. Conclusions and Caveats 35 Acknowled. qements 36 References 36 vi TABLE OF CONTENTS PROPERTIES OF HIGHLY CONDUCTIHG POLYACETYLEHE 49 Th. SCHIMMEL, D. GLASER, M. SCHWOERER AND H. NAARMANN 1. Introduction 50 2. SBIlpie Synthesis, lIorphology and Properties 52 2.

The 2001 Dutch Sensor Conference held on 14 -15 May 2001, at the University of Twente in Enschede, The Netherlands, is the fourth in a series ofmeetings. The conference is initiated by the Dutch Technology Foundation (STW) in order to stimulate the industrial application ofsensor research. This MESA Monograph contains a collection oflatest research and development from all major Dutch centers ofsensor research and aspect ofsensor commercialization. Thus it provides an excellent overview ofthe state ofthe art ofDutch Sensor Technology in the new millennium. I should like to acknowledge the work ofthe program committee, the local organizing committee and, ofcourse, the contributors to this volume. All ofthem made the conference a success. Prof. Dr. Miko Elwenspoek Conference Chairman Program Committee: M. Elwenspoek (Chairman) (MESA+) A.van den Berg (MESA+) PJ. French (TV Delft) P.V. Lambeck (MESA+) H. Leeuwis (3T) J.c. Lotters (Bronkhorst) HAC. Tilmans (IMEC) Contents MEASUREMENT SYSTEM FOR BIOCHEMICAL ANALYSIS BASED 1 ON CAPILLARY ELECTROPHORESIS AND MICROSCALE CONDUCTIVITY DETECTION F. Laugere, A. Berthold, R.M Guijt, E. Baltussen, J. Bastemeijer, P.M Sarro, MJ. Vellekoop ELECTRO-OSMOTIC FLOW CONTROL IN MICROFLUIDICS 7 SYSTEMS R.E. Oosterbroek,MH. Goedbloed, A. Trautmann, N.J. van der Veen, S Schlautmann, 1.W Berenschot, A. van den Berg FLOW SENSING USING THE TEMPERATURE DISTRIBUTION 13 ALONG A HEATED MICROBEAM J.J. van Baar, RJ Wiegerink,GJM Krijnen, T.SJ. Lammerink, M.C.

Recent advances in our understanding of complex composite media, especially chiral media for microwave applications, suggest the feasibility of creating novel materials with unusual properties and the possibility of constructing new microwave devices using such materials. The emphasis of the book is on bi-anisotropic materials, whose most interesting feature is the magnetoelectric interaction of the fields. The materials are expected to supply useful applications in radar technology, aerospace, microwave engineering, manufacturing technology, etc., such as absorbers for low-reflectivity shields, reciprocal phase shifters, polarization transformers. The first experiments with artificial bi-anisotropic media have been successfully carried out.

This volume is based on the proceedings of the NATO-sponsored Advanced Studies Institute (ASn on The New Superconducting Electronics (held 9-20 August 1992 in Waterville Valley, New Hampshire USA). The contents herein are intended to provide an update to an earlier volume on the same subject (based on a NATO ASI held in 1988). Four years seems a relatively short time interval, and our title itself, featuring The New Superconducting Electronics, may appear somewhat pretentious. Nevertheless, we feel strongly that the ASI fostered a timely reexamination of the technical progress and application potential of this rapid-paced field. There are, indeed, many new avenues for technological innovation which were not envisioned or considered possible four years ago. The greatest advances by far have occurred with regard to oxide superconductors, the so-called high transition-temperature superconductors, known in short as HTS. These advances are mainly in the ability to fabricate both (1) high-quality, relatively large-area films for microwave filters and (2) multilayer device structures, principally superconducting-normal-superconducting (SNS) Josephson junctions, for superconducting-quantum-interference-device (SQUID) magnetometers. Additionally, we have seen the invention and development of the flux-flow transistor, a planar three-terminal device. During the earlier ASI only the very first HTS films with adequate critical-current density had just been fabricated, and these were of limited area and had high resistance for microwave current."

After an introduction by J.G. Bednorz, describing the discovery of high Tc superconductivity and its consequences, the book goes on to describe modern research, dealing with general problems, new materials and structures, phase separation, electronic homogeneities and related problems, and applications. Specific systems dealt with include the La-cuprates. the Bi-cuprates and the Y-cuprates and related compounds.

Catalysis and catalyst is a key technology to solve the problems in energy and environment issues to sustain our human society. We believe that comprehensive understanding of the catalysis and catalyst provides us a chance to develop a new catalyst and contributes greatly to our society. However, the ?eld of heterogeneous catalyst is dif?cultto study andstill stays behindmoredeveloped?elds ofchemistry such as organic and physical chemistries. This is a dilemma to the chemists who study the catalysis and catalyst. While we can accomplish the progress in the - dustrial application, the scienti?c understandingis not complete yet. A gap between the useful application and incomplete scienti?c understanding, however, becomes smaller and smaller in recent years. Because zeolites are ?ne crystals, and the structure is clearly known, the study on the catalysis using the zeolites is easier than those encountered in other catalysts such as metals and metal oxides. Very fortunately, zeolites provide us the strong acidity with the ?ne distribution which enables various useful catalytic reactions. When some metals and cations are loaded in close to the acid sites, these loadede- ments show extraordinarycharacters, and many catalytic reactions proceed thereon.

This volume contains papers presented at the NATO Advanced Research Workshop (ARW) on Photons and Local Probes. The workshop had two predecessors. The first was the NATO ARW on Near Field Optics, held in October 1992 at Arc et Senans and was organized by Daniel Courjon and Dieter Pohl. The other predecessor was a workshop on Photons and Scanning Probe Microscopies held at the University of Konstanz in July 1992. The workshop on Photons and Local Probes was held at the Loechnerhaus on the Reichenau Island at the Lake of Constance, from September 11 to 17, 1994. The Reichenau Island was an important place in Europe in the middle age. Even the tomb of one of the carolingian emperors, Charles the Fat, is located there. At this workshop more than 60 scientists from Europe and the United States met to communicate their latest results in the field of local probes in combination with optical techniques. In eight sessions 31 talks as well as 9 posters were presented. Among those 31 publications were submitted for publication in the NATO proceedings. They were accepted after a strict, but constructive refereeing process.

In this volume there is set forth the text of the Pro ceedings of the Third International Conference on Sintering and Related Phenomena, which conference was held at the University of Notre Dame on June 5-7, 1972. This conference was the seventh in the series of University Conferences on Ceramic Science organized yearly by a happy "confederation" of four institutions; North Carolina State University, Raleigh, North Carolina; the University of California, Berkeley, California; Alfred University, Alfred, New York; and the University of Notre Dame, Notre Dame, Indiana. The 1972 Conference at Notre Dame was devoted to prob lems of sintering and allied phenomena. Previous gatherings at Notre Dame took place in 1954 and 1965. The proceedings of the first Notre Dame Conference were not published by reason of the conviction that a free forum similar in spirit to the Gordon Conferences should prevail. However, discus sions of the second Conference were preserved for posterity in a rather substantial volume (894 pp) published by Gordon and Breach in 1967. As the spirit of free exchange of ideas was not diminished by threat of publication of the revela tions of the second Notre Dame Conference, we deemed it just that the 1972 Proceedings be made public. Thus the present volume is a report upon progress realized in our science during the past six years.

Advances in Materials Science and Implant Orthopedic Surgery brings together experts from major university hospitals, materials scientists specializing in bio-materials, and development engineers working for implant manufacturers to address such issues as: mechanisms of fixation; foreign-body immune response; generation and consequences of ionic and wear debris; materials selection, design and manufacturing schemes; and surgical techniques to maximize the safety and efficacy of the devices.

This publication presents the proceedings of ICPMSE-4, the fourth international conference on Protection of Materials and Structures from the Low Earth Orbit Space Environment, held in Toronto April 23-24, 1998. The conference was hosted and organized by Integrity Testing Laboratory Inc. (ITL), and held at the University ofToronto's Institute for Aerospace Studies (UTIAS). Twenty two industrial companies, six universities and fourteen government agencies from Canada, USA, United Kingdom, France, Israel, Russia, Ukraine and the Netherlands were represented by over 75 participants indicating increasing international co-operation in this critical arena of protection of materials in space. Twenty-seven speakers, world experts in their fields, delivered talks on a wide variety of topics on various aspects of material protection in space. Representatives from the Canadian, American, European and Israeli space agencies as well as from leading space research laboratories ofmajor aerospace industries gathered at UTIAS to discuss the latest developments in the field of material and structure protection from the harsh space environment.

Based on chaos theory two very important points are clear: (I) random looking aperiodic behavior may be the product of determinism, and (2) nonlinear problems should be treated as nonlinear problems and not as simplified linear problems. The theoretical aspects ofchaos have been presented in great detail in several excellent books published in the last five years or so. However, while the problems associated with applications of the theory-such as dimension and Lyapunov exponentsestimation, chaosand nonlinear pre diction, and noise reduction-have been discussed in workshops and ar ticles, they have not been presented in book form. This book has been prepared to fill this gap between theory and ap plicationsand to assist studentsand scientists wishingto apply ideas from the theory ofnonlinear dynamical systems to problems from their areas of interest. The book is intended to be used as a text for an upper-level undergraduate or graduate-level course, as well as a reference source for researchers. My philosophy behind writing this book was to keep it simple and informative without compromising accuracy. I have made an effort to presentthe conceptsby usingsimplesystemsand step-by-stepderivations. Anyone with an understanding ofbasic differential equations and matrix theory should follow the text without difficulty. The book was designed to be self-contained. When applicable, examples accompany the theory. The reader will notice, however, that in the later chapters specific examples become less frequent. This is purposely done in the hope that individuals will draw on their own ideas and research projects for examples.

This seriesofbooks, which is publishedattherateofaboutoneper year, addresses fundamental problems in materialsscience.Thecontents coverabroadrangeoftopicsfromsmallclustersofatomstoengineering materials and involve chemistry, physics, materials science, and engineering,withlengthscalesrangingfromAngstromsuptomillimeters. Theemphasis is on basic scienceratherthan on applications. Each book focuses on a single areaofcurrent interest and brings together leading experts to give an up-to-date discussion oftheir work and the workof others. Each articlecontainsenough references thattheinterestedreader can access the relevant literature. Thanks are given to the Center for Fundamental Materials Research at Michigan State University for supportingthisseries. M.F.Thorpe,SeriesEditor E-mail:[email protected] EastLansing,Michigan,November2002 v PREFACE ThisvolumerecordsinvitedlecturesgivenattheNewThermoelectric(TE)Materials Workshopheld inTraverseCity,MichiganfromAugust17-21,2002.Thethemeofthe workshop was Chemistry, PhysicsandMaterials ScienceofThermoelectric Materials: Beyond Bismuth Telluride. The objective of this symposium was threefold. First, to examine and assess the ability of solid state chemistry to produce new generation materials for TE applications. Second, to rationalize and predict the charge and heat transportpropertiesofpotentialcandidatesandhypotheticalsystemsthroughsolidstate theoryandexperiment.Third,toidentifyandprioritizeresearchneededtoreachvarious levelsofrequirementsintermsofZTandtemperature.Theseobjectiveswereaddressed by a series of invited talks and discussions by leading experts from academia, governmentlaboratories,andindustry. Thereweretwenty-twoinvitedandeightposterpresentations inthe workshop.Out ofthese,sixteeninvitedpresentationsarerepresentedinthisvolume.Theycoverawide range of subjects, starting from synthesis (based on different strategies) and characterizationofnovel materials to acareful studyoftheir transport properties and electronicstructure.Topicsaddressingtheissueofmakingnew materialsare: synthetic search for new materials (di Salvo et aI.) and synthetic strategies based on phase homologies (Kanatzidis). The different classes of materials covered are: bismuth nanowires (Dresselhausetal.), unconventional high-temperaturethermoelectrics, boron carbides (Aselage et aI.) , layered cobalt oxides (Fujii et aI.), early transition metal antimonides(KleinkeetaI.),skutterudites(Uher),andclathratethermoelectrics(Nolas).

The NATO Advanced Research Workshop on "Nanomagnetic Devices" was held in Miraflores de la Sierra, Madrid, Spain, from 14 to 19 September 1992. This book contains 21 invited articles related to suggestive and relevant aspects of Magnetism. The NATO Advanced Research Workshop was Co-directed by R.C. O'Handley, B. Heinrich and A. Hernando. The organisers as well as the participants are gratefully acknowledged to the NATO Science Committee. I also wish to thank the publishers for their advice and help in organizing the book. xi DESIDERATA OF STORAGE DEVICES C.E. YEACK-SCRANTON IBM Corporation, E02/005 5600 Cottle Road San Jose, CA 95139 USA ABSTRACT. Typical requirements on cost, capacity, and performance of today's magnetic storage devices and industry trends in these attributes are given. Scaling components, devices, and materials is shown to be a key factor in further improvement, Challenges to continued scaling are reviewed, particularly as they relate to magnetic nano-structures, materials, and characterization techniques.

A comprehensive encyclopaedic dictionary on polymer technology with expanded entries - trade name and trade marks, list of abbreviations and property tables.

This is the first comprehensive resource of power device electrical characteristics in a cryogenic environment. Using theoretical and experimental knowledge from the literature, temperature dependence of fundamental silicon material parameters like intrinsic carrier concentration, carrier mobilities, lifetimes and bandgap narrowing was identified. The temperature dependent model of avalanche breakdown was developed using experimental data on numerous devices. A wide range of power devices, each with its own unique features, was chosen for theoretical and experimental analysis. Using these analyses, Schottky diodes, power MOSFETs, power BJTs, and power JFETs were optimized in the 300-77K temperature range. Cryogenic Operation of Silicon Power Devices presents the different characteristics of power devices operated below -55 C (220K). It provides data and physics based models for power devices operated at temperatures down to 77K for the first time within a single source. All commercially available devices have been included to provide comprehensive coverage.Also, a fundamental analysis of devices identifies the suitability of various devices to applications requiring cryogenic operations. A quantitative analysis of the relative strengths and weaknesses of these devices is also presented.

Blends of natural rubber with speciality synthetic rubbers, such as nitrile rubber and ethylene propylene rubbers, have, in the past, failed to combine the best properties of polymers, resulting in a poor return in terms of added value from the blending process. The idea of blending synthetic rubbers with natural rubbe is certainly not a new one, but it is only now that this can be shown to be possible with consistently positive resluts, but eh use of novel techniques which this book describes, giving valuable information on the technology required and the results which can be achieved. Blends of Natural Rubber is an invaluable source of information for all those working in the area of rubber technology and polymer blend technology.

One of the major challenges of science in the last few years of the second millennium is learning how to design materials which can fulfill specific tasks. Ambitious as it may be, the possibilities of success are not ne li ble provided that all the different expertises merge to overcome the limits of eXIsting disciplines and forming new paradigms science. The NATO Advanced Research Workshop on "Magnetic Molecular Materials" was organized with the above considerations in mind in order to determine which are the most appropriate synthetic strategies, experimental techniques of investigation, and theoretical models which are needed in order to develop new classes of magnetic materials which are based on molecules rather than on metallic or ionic lattices. Why molecules? The answer may be obvious: molecular chemistry in principle fine can tune the structures and the properties of complex aggregates, and nature already provides a large number of molecular aggregates which can perform the most disparate functions. The contributions collected in this book provide a rather complete view of the current research accomplishments of magnetic molecular materials. There are several different synthetic approaches which are followed ranging from purely organic to inorganic materials. Some encouraging successes have already been achieved, even if the critical temperatures below which magnetic order is observed still are in the range requiring liquid helium.

A prestigious form of research grant in Germany is the Sonderforschungsbereich, which provides continuous funding over a period of up to 15 years, but only as long as the work is yielding worthwhile results. We acknowledge financial support of our work at Erlangen by the Deutsche Forschungsgemeinschaft (DFG), Sonder- forschungsbereich 222. Thanks to this support, the experimental results from six Dr. -Ing. dissertations have provided the basis for our book: 8 * Schweinzer, J. (1987) Heat transfer in bubbling fluidized beds at Ar;a. 10 * Seiter, M. (1990) Particle motion and solids concentration in circulating fluidized beds * Mattmann, W. (1991) Heat transfer in pressurized circulating fluidized beds * Burschka, A. (1993) Pulsed light method * Dietz, S. (1994) Heat transfer in bubbling fluidized beds * Gruber, U. (1995) Heat transfer in lean phase systems This book is the result of the enthusiastic and trustful cooperation of its authors. Nevertheless, we are separate individuals. Chapters 1 to 12 and 19 are by O. Molerus; Chapters 13 to 18 are by K. -E. Wirth. This book came into existence after many rewrites, patiently endured by Mrs Winter, who typed all versions of the manuscript, and by Mrs Scheffler-Kohler, who drew all the figures. Bob Farmer and David Penfold helped us bridge the language gap to produce a readable book. Weare grateful to Professor Brian Scarlett of Delft University, who on behalf of Chapman & Hall allowed us to write this book.