Revised and updated, this second edition of Design of Hydraulic Gates maintains the same goal as the original: to be used as a textbook and a manual of design of gates, presenting the main aspects of design, manufacture, installation and operation of hydraulic gates, while introducing new products, technologies and calculation procedures. This edition included new chapters on intake gates and trashrack design, highlighting the aspects of safety, operational and maintenance procedures. To improve the strength against structural failure of intake trashracks, the author proposes a series of rigid calculation assumptions, design parameters and manufacturing procedures, which will certainly result in safer trashracks. Some 340 drawings and photographs, 82 tables, 107 references and 23 worked examples help the reader to understand the basic concepts and calculation methods presented.

This text identifies and discusses different technology innovation initiatives (TIIs) such as entrepreneurial capability, technology infrastructure capability, organizational culture and climate, and government initiatives. It further evaluates the relationship between various technology innovation initiatives and manufacturing performances using multi-criteria decision-making techniques such as fuzzy set theory (FST), structural equation modeling (SEM), and analytic hierarchy process (AHP). It will serve as an ideal reference text for graduate students and academic researchers in the field of industrial engineering, manufacturing engineering, mechanical engineering, automotive engineering. This book: * Discusses technology innovation initiatives such as entrepreneurial capability, technology infrastructure capability, and organizational culture. * Highlights technology innovation-strategy model in assisting manufacturing industries for enhancing their performance in today's competitive environment. * Examines the effect of technology innovation initiatives on the performance of manufacturing industries. * Covers multi-criteria decision-making techniques such as fuzzy set theory, structural equation modeling, and analytic hierarchy process. * Explores the validation of fuzzy-based technology innovation model through structural equation modeling.

The book comprehensively discusses principles, techniques, research activities, applications and case studies of computer-aided design in a single volume. The textbook will serve as ideal study material for undergraduate, and graduate students in a multitude of engineering disciplines. The book * Discusses techniques for wireframe, surface and solid modelling including practical cases and limitations. * Each chapter contains solved examples and unsolved exercises. * Includes research case studies and practical examples in enabling the user to link academic theory to engineering practice. * Highlights the ability to convert graphic to non-graphic information such as in drawing up bills of materials in practice. * Discusses important topics including constructive solid geometry, Boolean operations on solid primitives and Boolean algebra. This text covers different aspects of computer-aided design, from the basic two-dimensional constructions through modifications, use of layers and dimensioning to advanced aspects such as three-dimensional modelling and customization of the package to suit different applications and disciplines. It further discusses important concepts including orthographic projections, isometric projections, 3D wireframe modelling, 3D surface modelling, solids of extrusion and solids of revolution. It will serve as ideal study material for undergraduate, and graduate students in the fields of mechanical engineering, industrial engineering, electrical and electronic engineering, civil and construction engineering, aerospace engineering and manufacturing engineering.

Water demand in southern Africa continues to rise, as urban areas expand and as agricultural water demand rises to meet the millennium development food security goals. Water resource availability in the northern Limpopo Basin has declined over the last 30 years, and will decline further under climate change. In this study, water resources modelling is used to quantify the effect of water resources strategies and climatic conditions on water resources availability. This is coupled with water balance modelling to evaluate the potential of alluvial aquifers, which form the beds of sand rivers. The greatest benefit for the least impact comes from strategies providing for better land and soil/water management, such as changing from maize to small grains, production of livestock fodder and conservation agriculture. Small dams are a key resource to rural communities, and change to Multiple Use Systems through abstraction of water for irrigation has clear benefits locally. There is also great potential for the exploitation of alluvial aquifers for water supply. Better management of existing large dams, together with conjunctive use of alluvial groundwater and several reservoirs could increase productive use of water and significantly improve livelihoods without the construction of new reservoirs.

Small Dams: Planning, Construction and Maintenance has been written to provide a practical approach and guide to determining catchment yield and the amount of water required in a dam, advising on selecting and working with engineers and contractors, as well as outlining the cause of dam failures and how to remedy problems quickly. It also covers relevant legislation, environmental and ecological issues. Employing the principles in this book, in conjunction with heeding the advice of suitably experienced and qualifi ed engineers and contractors, will reduce the risk of failure and help to ensure the long term success of any small dam in question. Small Dams will be an invaluable resource for anyone who owns a dam, and a useful reference for agencies, contractors and engineers. The author, Barry Lewis, has over forty years of experience as an engineer and has written extensively on farm dams, soil conservation, catchment management and the environmental impact of dams both on and off streams. He was also directly involved in the licensing and regulating of small dams in Australia.

Thermal comfort is a desirable state familiar to all people. Providing inspirational indoor and outdoor environments that provide thermal comfort, in the context of energy use and climate change, is a challenge for the 21st century. This book provides an up-to-date, comprehensive coverage of thermal comfort from principles and theory to practical application. The book begins with current knowledge and understanding of thermal comfort and its application to providing thermal conditions for indoor and outdoor environments. It integrates and presents new ideas to provide a comprehensive model of thermal comfort so that we can move on from the 20th and early 21st century and provide a focus for developments for future decades. This book will be of interest to practitioners and students and anyone involved with fields such as environmental design, physiology, ergonomics, human factors, industrial hygiene, architecture, health and safety and air conditioning. * Provides current thermal comfort standards and regulations * Describes the PMV, PPD, ET* and SET thermal comfort indices * Discusses adaptive thermal comfort, adaptive opportunity and explains why we have not moved towards a more dynamic and interactive approach to providing thermal comfort * Presents a new model relating thermal discomfort to performance * Shows how to construct a computer model of thermal comfort * Offers how to conduct a thermal comfort survey Human Thermal Comfort provides new ideas for achieving thermal comfort for offices, vehicles, atriums, and plazas of the future.

Without proper hydraulic fill and suitable specialised equipment, many major infrastructure projects such as ports, airports, roads, industrial or housing projects could not be realised. Yet comprehensive information about hydraulic fill is difficult to find. This thoroughly researched book, written by noted experts, takes the reader step-by-step through the complex development of a hydraulic fill project. Up-to-date and in-depth, this manual will enable the client and his consultant to understand and properly plan a reclamation project. It provides adequate guidelines for design and quality control and allows the contractor to work within known and generally accepted guidelines and reasonable specifications. The ultimate goal is to create better-designed, more adequately specified and less costly hydraulic fill projects. The Hydraulic Fill Manual covers a range of topics such as: * The development cycle of a hydraulic fill project * How technical data are acquired and applied * The construction methods applicable to a wide variety of equipment and soil conditions, the capabilities of dredging equipment and the techniques of soil improvement * How to assess the potentials of a borrow pit * Essential environment assessment issues * The design of the hydraulic fill mass, including the boundary conditions for the design, effects of the design on its surroundings, the strength and stiffness of the fill mass, density, sensitivity to liquefaction, design considerations for special fill material such as silts, clays and carbonate sands, problematic subsoils and natural hazards * Quality control and monitoring of the fill mass and its behaviour after construction. This manual is of particular interest to clients, consultants, planning and consenting authorities, environmental advisors, contractors and civil, geotechnical, hydraulic and coastal engineers involved in dredging and land reclamation projects.

Discusses industrial impact of manufacturing process Provides novel fundamental manufacturing solutions Teaches classical and artificial manufacturing Covers advanced manufacturing of antennas, rectennas, filters, and RF amplifiers

Most approaches that contribute to the design of life-critical systems almost only consider nominal situations where procedures can be developed and used to achieve satisfactory operations. These kinds of approaches lead to rigid ways of doing things and poorly address the needs for flexibility, especially when things go wrong. It is not a matter of human adaptation but of human systems integration (HSI) flexibility. HSI flexibility requires cross-fertilization of appropriate experiences combined with creativity. This book provides risk-management approaches and methods for combining prevention and design. Features: Discusses risk-management approaches and methods for combining prevention and design Examines a transdisciplinary approach to risk management in design and operations of safer life-critical systems Proposes an approach of work analysis during design, which enables design teams to consider HSI issues early enough to fix organizational problems upstream Teaches the combination of prevention and design for safety management This book gathers and analyzes relevant field data to rationalize human and systems activity in various life-critical environments and workplaces, in a systemic manner, and in a variety of safety domains (e.g., aviation, road, navy, manufacturing, hospital, transportation, defense, sport). It further formalizes and analyzes risk-taking experience, expertise, stories about critical events, and scientific and professional literature data to help engineering designers, managers, and health and safety specialists. The text is primarily written for graduate students and professionals working in the fields of occupational health and safety, ergonomics, human factors, cognitive engineering, and human-system integration.

Thin Film Coatings: Properties, Deposition, and Applications discusses the holistic subject of conventional and emerging thin film technologies without bias to a specific technology based on the existing literature. It covers properties and delves into the various methods of thin film deposition, including the most recent techniques and a direction for future developments. It also discusses the cutting-edge applications of thin film coatings such as self-healing and smart coatings, biomedical, hybrid, and scalable thin films. Finally, the concept of Industry 4.0 in thin film coating technology is examined. This book: Explores a wide range and is not specific to material and method of deposition Demonstrates the application of thin film coatings in nearly all sectors, such as energy and anti-microbial applications Details the preparation and properties of hybrid and scalable (ultra) thin materials for advanced applications Provides detailed bibliometric analyses on applications of thin film coatings Discusses Industry 4.0 and 3D printing in thin film technology With its broad coverage, this comprehensive reference will appeal to a wide audience of materials scientists and engineers and others studying and developing advanced thin film technologies.

This book provides advanced techniques for precision compensation and fault diagnosis of precision motion systems and rotating machinery. Techniques and applications through experiments and case studies for intelligent precision compensation and fault diagnosis are offered along with the introduction of machine learning and deep learning methods. Machine Learning-Based Fault Diagnosis for Industrial Engineering Systems discusses how to formulate and solve precision compensation and fault diagnosis problems. The book includes experimental results on hardware equipment used as practical examples throughout the book. Machine learning and deep learning methods used in intelligent precision compensation and intelligent fault diagnosis are introduced. Applications to deal with relevant problems concerning CNC machining and rotating machinery in industrial engineering systems are provided in detail along with applications used in precision motion systems. Methods, applications, and concepts offered in this book can help all professional engineers and students across many areas of engineering and operations management that are involved in any part of Industry 4.0 transformation.

A Users Guide to Hydraulic Modelling and Experimentation provides a systematic, comprehensive summary of the progress made through HYDRALAB III . The book combines the expertise of many of the leading hydraulic experimentalists in Europe and identifies current best practice for carrying out state-of-the-art, modern laboratory investigations. In addition it gives an inventory and reviews recent advances in instrumentation and equipment that drive present and new developments in the subject. The Guide concentrates on four core areas ? waves, breakwaters, sediments and the relatively-new (but rapidly-developing) cross-disciplinary area of hydrodynamics/ecology. Progress made through the ?CoMIBBS? component of HYDRALAB III provides the material for a chapter focussed on guidance, principles and practice for composite modelling. There is detailed consideration of scaling and the degree of relevance of laboratory/physical modelling approaches for specific contexts included in each of the individual chapters. The Guide includes outputs from the workshops and several of the innovative transnational access projects that have been supported within HYDRALAB III, as well as the focussed joint research activities SANDS and CoMIBBS. Its primary purpose is to serve as a shared resource to disseminate the outstanding advances achieved within HYDRALAB III but, even more than this, it is a tribute to the human and institutional collaborations that led to and sustained the research advances, the human relationships that were strengthened and initiated through joint participation in the Programme, and the training opportunities that participation provided to the many young researchers engaged in the projects.

Read a free excerpt here! American engineers have done astounding things to bend the Mississippi River to their will: forcing one of its tributaries to flow uphill, transforming over a thousand miles of roiling currents into a placid staircase of water, and wresting the lower half of the river apart from its floodplain. American law has aided and abetted these feats. But despite our best efforts, so-called "natural disasters" continue to strike the Mississippi basin, as raging floodwaters decimate waterfront communities and abandoned towns literally crumble into the Gulf of Mexico. In some places, only the tombstones remain, leaning at odd angles as the underlying soil erodes away. Mississippi River Tragedies reveals that it is seductively deceptive-but horribly misleading-to call such catastrophes "natural." Authors Christine A. Klein and Sandra B. Zellmer present a sympathetic account of the human dreams, pride, and foibles that got us to this point, weaving together engaging historical narratives and accessible law stories drawn from actual courtroom dramas. The authors deftly uncover the larger story of how the law reflects and even amplifies our ambivalent attitude toward nature-simultaneously revering wild rivers and places for what they are, while working feverishly to change them into something else. Despite their sobering revelations, the authors' final message is one of hope. Although the acknowledgement of human responsibility for unnatural disasters can lead to blame, guilt, and liability, it can also prod us to confront the consequences of our actions, leading to a liberating sense of possibility and to the knowledge necessary to avoid future disasters.

A comprehensive treatment of open channel flow, Open Channel Flow: Numerical Methods and Computer Applications starts with basic principles and gradually advances to complete problems involving systems of channels with branches, controls, and outflows/ inflows that require the simultaneous solutions of systems of nonlinear algebraic equations coupled with differential equations. The book includes downloadable resources that contain a program that solves all types of simple open channel flow problems, the source programs described in the text, the executable elements of these programs, the TK-Solver and MathCad programs, and the equivalent MATLAB (R) scripts and functions. The book provides applied numerical methods in an appendix and also incorporates them as an integral component of the methodology in setting up and solving the governing equations. Packed with examples, the book includes problems at the end of each chapter that give readers experience in applying the principles and often expand upon the methodologies use in the text. The author uses Fortran as the software to supply the computer instruction but covers math software packages such as MathCad, TK-Solver, MATLAB, and spreadsheets so that readers can use the instruments with which they are the most familiar. He emphasizes the basic principles of conservation of mass, energy, and momentum, helping readers achieve true mastery of this important subject, rather than just learn routine techniques. With the enhanced understanding of the fundamental principles of fluid mechanics provided by this book, readers can then apply these principles to the solution of complex real-world problems. The book supplies the knowledge tools necessary to analyze and design economical and properly performing conveyance systems. Thus not only is the book useful for graduate students, but it also provides professional engineers the expertise and knowledge to design well performing and economical channel systems.

This book illustrates numerical simulation of fluid power systems by LMS Amesim Platform covering hydrostatic transmissions, electro hydraulic servo valves, hydraulic servomechanisms for aerospace engineering, speed governors for power machines, fuel injection systems, and automotive servo systems It includes hydrostatic transmissions, automotive fuel injection, hydropower speed units governor, aerospace servo systems along with case studies of specified companies Aids in predicting and optimizing the static and dynamic performances related to the systems under study

Along with windstorms, floods are the most common and widespread of all natural disasters. Although they can often be predicted, they cause loss of life, damage and destruction, as many urban communities are located near coasts and rivers. In terms of victims, floods are responsible for more than half the deaths caused by natural catastrophes. As flood events appear to be rapidly increasing world-wide, an advanced and universal approach to urban flooding and how to manage will help reduce flood impact.

This textbook integrates expertise from disciplines such as hydrology, sociology, architecture, urban design, construction and water resources engineering. The subject is approached from an international perspective and case studies, exercises, expert advice and literature recommendations are included to support the theory and illustrations.

Developed by a team of specialists, this volume is intended for urban flood management education of hydrology, geography, civil and environmental engineering, and management students at university level. Moreover, professionals will find this book useful as a reference. More information on flood resilience and urban flood management can be found at www.floodresiliencegroup.org

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The natural scarcity of water in arid and semiarid regions, aggravated by man-made factors, makes it difficult to achieve a reliable water resources supply. Communities in these areas pay the price for thousands of years of water manipulation. Presenting important insight into the complexities of arid region hydrology, Engineering Hydrology of Arid and Semi-Arid Regions explores the key components for formulating and implementing integrated management approaches in catchment (wadi) systems. The book introduces the engineering hydrology of arid and semi-arid regions, covering meteorological processes and hydrology. The author discusses precipitation and precipitation losses, catchment characteristics, and runoff estimation methods. He also examines streamflow measurements and hydrographs, flood routing, and groundwater hydrology, including the basic equations of groundwater flow and analytic solutions describing flow aquifers, pumping tests, and salt water intrusion. Building on this foundation, the book then delineates sediment yield in watersheds and streams and the design of hydraulic structures for protection and management of water resources systems. It includes case studies, conversion tables, and modeling software. During the last two decades, research efforts and networking have enhanced the state of knowledge about arid and semi-arid areas, especially watershed and catchment systems. Pulling this information together into a comprehensive resource, this book provides a better understanding of wadi hydrology, capacity-building processes, water education and training, and institutional development. This understanding can then be used to select the appropriate tools to support water management and optimize the sustainable use of water resources. "When the well is dry, we learn the worth of water" - Benjamin Franklin

The unprecedented growth of cities has a significant impact on future flood risk that might exceed the impacts of climate change in many metropolitan areas across the world. Although the effects of urbanisation on flood risk are well understood, assessments that include spatially explicit future growth projections are limited. This comparative study provides insight in the long term development of future riverine and pluvial flood risk for 18 fast growing megacities. The outcomes provide not only a baseline absent in current practise, but also a strategic outlook that might better establish the role of urban planning in limiting future flood risk.

This book presents the ideas behind model design and use for a broad spectrum of hydraulic modeling methods. Detailed guidance is provided for selecting the modeling approach most likely to produce the data sought. This manual provides many different methods of hydraulic modeling from which to choose, as it covers an extensive assortment of modeling topics, technical issues, and strategies. Significant advances in modeling methods and the broadening of hydraulic issues addressed by means of hydraulic modeling necessitated this updated manual. The topics include: similitude and dimensional analysis, single-phase flow, loose boundary flow, gas-liquid flows, environmental flows, Coastal and estuary processes, Ice, debris, and hydroelastic vibrations, hydraulic machinery, design, construction, and operation of hydraulic models, and instrumentation and data acquisition. Five case-study examples are included to provide an overall sense of the modeling process from start to finish.

This book is based on the author's 49 years of experience as a practicing coastal engineer and 34 years as professor of coastal engineering and management at Queen's University. The book is therefore thoroughly practical in nature, but it also reflects newly relevant issues, such as consequences of failure, impacts of rising sea levels, aging infrastructure, real estate development, and contemporary decision making, design and education.This textbook is useful for undergraduate students, postgraduate students and practicing engineers. It covers waves, structures, sediment movement, coastal management, and contemporary coastal design and decision making. It presents both basic principles and engineering solutions. It discusses the traditional methods of analysis and synthesis (design), but also contemporary design methodologies, such as working with environmental impacts.The second edition expanded greatly on the topics of failure and resilience that surfaced as a result of recent disasters from hurricane surges and tsunamis. It updated the discussion of design and decision making for the 21st century, with many new examples.This third edition develops some of these topics further, but its largest new changes is the chapter on climate change. This chapter presents the basics of climate change and then goes on to stress the practical implications of the impacts of climate change, focusing on what is of importance to coastal and fluvial specialists.

The Second Edition of the Practical Hydraulics Handbook is a must for all those who work with water utility systems. Presented in workbook format and emphasizing practical applications, this Handbook is perfect for hydraulic engineers, technicians, operating personnel, supervisors, managers, consultants, and students.
The exceptionally well-organized chapters include information on pressurized systems and open channel flow, principles of energy and force, flow calculations and measurement, pumps, and pumping applications.
This latest edition of the Practical Hydraulics Handbook includes new exercises at the end of each chapter and detailed solutions to selected exercises. The well-chosen exercises allow readers to practice applications of the theory and to test their knowledge of the material. The solutions provide guidance and problem-solving techniques that can be used both in the field and in the lab. Reference tables are also provided for calculations of friction loss, velocity, pipe fullness, well drawdown, English/metric conversions, power, and metered flow. These tables make calculations easier and minimize the chance for error.
In this new edition of Practical Hydraulics Handbook, all of the major principles and calculations dealing with the hydraulics of water systems are covered, and new and expanded material has been added.

In Draining New Orleans, the first full-length book devoted to "the world's toughest drainage problem," renowned geographer Richard Campanella recounts the epic challenges and ingenious efforts to dewater the Crescent City. With forays into geography, public health, engineering, architecture, politics, sociology, race relations, and disaster response, he chronicles the herculean attempts to "reclaim" the city's swamps and marshes and install subsurface drainage for massive urban expansion. The study begins with a vivid description of a festive event on Mardi Gras weekend 1915, which attracted an entourage of elite New Orleanians to the edge of Bayou Barataria to witness the christening of giant water pumps. President Woodrow Wilson, connected via phoneline from the White House, planned to activate the station with the push of a button, effectively draining the West Bank of New Orleans. What transpired in the years and decades that followed can only be understood by examining the large swath of history dating back two centuries earlier-to the geological formation and indigenous occupation of this delta-and extending through the colonial, antebellum, postbellum, and Progressive eras to modern times. The consequences of dewatering New Orleans proved both triumphant and tragic. The city's engineering prowess transformed it into a world leader in drainage technology, yet the municipality also fell victim to its own success. Rather than a story about mud and machinery, this is a history of people, power, and the making of place. Campanella emphasizes the role of determined and sometimes unsavory individuals who spearheaded projects to separate water from dirt, creating lucrative opportunities in the process not only for the community but also for themselves.

The New Orleans Flood, U.S. Corruption, and Disasters "Rosenthal employs the surgical precision of an investigative journalist and the craft of a memoirist to expose the flaws, natural and human, behind the devastation caused by Hurricane Katrina." -The Eric Hoffer Award Program 2020 Nautilus Silver Winner #1 New Release in Civil Engineering & Environmental, Urban & City Planning, Development, and Disaster Relief In the aftermath of one of the worst disasters in U.S. history, Words Whispered in Water tells the story of one woman's fight-against all odds-to expose a mammoth federal agency-and win. It's a horror story, a mystery, and David and Goliath story all in one. In 2005, the entire world watched as a major U.S. city was nearly wiped off the map. The levees ruptured and New Orleans drowned. But while newscasters attributed the New Orleans flood to "natural catastrophes" and other types of disasters, citizen investigator Sandy Rosenthal set out to expose the true culprit and compel the media and government to tell the truth. This is her story. When the protective steel flood-walls broke, the Army Corps of Engineers-with cooperation from big media-turned the blame on natural types of disasters. In the chaotic aftermath, Rosenthal uncovers the U.S. corruption, and big media at root. Follow this New Orleans hero as she exposes the federal agency's egregious design errors and eventually changes the narrative surrounding the New Orleans flood. In this engaging and revealing tale of man versus nature and man versus man, Words Whispered in Water proves that the power of a single individual is alive and well. If you enjoyed books like The Johnstown Flood, Breach of Faith, or The Great Deluge, then Words Whispered in Water is your next read!

Traditional Machining Technology describes the fundamentals, basic elements, and operations of general-purpose metal cutting and abrasive machine tools used for the production and grinding of cylindrical and flat surfaces by turning, drilling, and reaming; shaping and planing; and milling processes. Special-purpose machines and operations used for thread cutting, gear cutting, and broaching processes are included along with semiautomatic, automatic, NC, and CNC machine tools; operations, tooling, mechanisms, accessories, jigs and fixtures, and machine-tool dynamometry are discussed. The treatment throughout the book is aimed at motivating and challenging the reader to explore technologies and economically viable solutions regarding the optimum selection of machining operations for a given task. This book will be useful to professionals, students, and companies in the industrial, manufacturing, mechanical, materials, and production engineering fields.

Introduction to Process Control, Third Edition continues to provide a bridge between traditional and modern views of process control by blending conventional topics with a broader perspective of integrated process operation, control, and information systems. Updated and expanded throughout, this third edition addresses issues highly relevant to today's teaching of process control: Discusses smart manufacturing, new data preprocessing techniques, and machine learning and artificial intelligence concepts that are part of current smart manufacturing decisions Includes extensive references to guide the reader to the resources needed to solve modeling, classification, and monitoring problems Introduces the link between process optimization and process control (optimizing control), including the effect of disturbances on the optimal plant operation, the concepts of steady-state and dynamic back-off as ways to quantify the economic benefits of control, and how to determine an optimal transition policy during a planned production change Incorporates an introduction to the modern architectures of industrial computer control systems with real case studies and applications to pilot-scale operations Analyzes the expanded role of process control in modern manufacturing, including model-centric technologies and integrated control systems Integrates data processing/reconciliation and intelligent monitoring in the overall control system architecture Drawing on the authors' combined 60 years of teaching experiences, this classroom-tested text is designed for chemical engineering students but is also suitable for industrial practitioners who need to understand key concepts of process control and how to implement them. The text offers a comprehensive pedagogical approach to reinforce learning and presents a concept first followed by an example, allowing students to grasp theoretical concepts in a practical manner and uses the same problem in each chapter, culminating in a complete control design strategy. A vast number of exercises throughout ensure readers are supported in their learning and comprehension. Downloadable MATLAB (R) toolboxes for process control education as well as the main simulation examples from the book offer a user-friendly software environment for interactively studying the examples in the text. These can be downloaded from the publisher's website. Solutions manual is available for qualifying professors from the publisher.