This book develops the theory of ordinary differential equations (ODEs), starting from an introductory level (with no prior experience in ODEs assumed) through to a graduate-level treatment of the qualitative theory, including bifurcation theory (but not chaos). While proofs are rigorous, the exposition is reader-friendly, aiming for the informality of face-to-face interactions. A unique feature of this book is the integration of rigorous theory with numerous applications of scientific interest. Besides providing motivation, this synthesis clarifies the theory and enhances scientific literacy. Other features include: (i) a wealth of exercises at various levels, along with commentary that explains why they matter; (ii) figures with consistent color conventions to identify nullclines, periodic orbits, stable and unstable manifolds; and (iii) a dedicated website with software templates, problem solutions, and other resources supporting the text (www.math.duke.edu/ode-book). Given its many applications, the book may be used comfortably in science and engineering courses as well as in mathematics courses. Its level is accessible to upper-level undergraduates but still appropriate for graduate students. The thoughtful presentation, which anticipates many confusions of beginning students, makes the book suitable for a teaching environment that emphasizes self-directed, active learning (including the so-called inverted classroom).

This book has been written in a frankly partisian spirit-we believe that singularity theory offers an extremely useful approach to bifurcation prob lems and we hope to convert the reader to this view. In this preface we will discuss what we feel are the strengths of the singularity theory approach. This discussion then Ieads naturally into a discussion of the contents of the book and the prerequisites for reading it. Let us emphasize that our principal contribution in this area has been to apply pre-existing techniques from singularity theory, especially unfolding theory and classification theory, to bifurcation problems. Many ofthe ideas in this part of singularity theory were originally proposed by Rene Thom; the subject was then developed rigorously by John Matherand extended by V. I. Arnold. In applying this material to bifurcation problems, we were greatly encouraged by how weil the mathematical ideas of singularity theory meshed with the questions addressed by bifurcation theory. Concerning our title, Singularities and Groups in Bifurcation Theory, it should be mentioned that the present text is the first volume in a two-volume sequence. In this volume our emphasis is on singularity theory, with group theory playing a subordinate role. In Volume II the emphasis will be more balanced. Having made these remarks, Iet us set the context for the discussion of the strengths of the singularity theory approach to bifurcation. As we use the term, bifurcation theory is the study of equations with multiple solutions."

This IMA Volume in Mathematics and its Applications TWO PHASE FLOWS AND WAVES is based on the proceedings of a workshop which was an integral part of the 1988-89 IMA program on NONLINEAR WAVES. The workshop focussed on the development of waves in flowing composites. We thank the Coordinating Commit tee: James Glimm, Daniel Joseph, Barbara Keyfitz, Andrew Majda, Alan Newell, Peter Olver, David Sattinger and David Schaeffer for planning and implementing the stimulating year-long program. We especially thank the Workshop Organizers, Daniel D. Joseph and David G. Schaeffer for their efforts in bringing together many of the major figures in those research fields in which modelling of granular flows and suspensions is used. Avner Friedman Willard Miller, Jr. PREFACE This Workshop, held from January 3-10,1989 at IMA, focused on the properties of materials which consist of many small solid particles or grains. Let us distinguish the terms granular material and suspension. In the former, the material consists exclusively of solid particles interacting through direct contact with one another, either sustained frictional contacts in the case of slow shearing or collisions in the case of rapid shearing. In suspensions, also called two phase flow, the grains interact with one another primarily through the influence of a viscous fluid which occupies the interstitial space and participates in the flow. (As shown by the lecture of I. Vardoulakis (not included in this volume), the distinction between these two idealized cases is not always clear."

Bifurcation theory studies how the structure of solutions to equations changes as parameters are varied. The nature of these changes depends both on the number of parameters and on the symmetries of the equations. Volume I discusses how singularity-theoretic techniques aid the understanding of transitions in multiparameter systems. This volume focuses on bifurcation problems with symmetry and shows how group-theoretic techniques aid the understanding of transitions in symmetric systems. Four broad topics are covered: group theory and steady-state bifurcation, equicariant singularity theory, Hopf bifurcation with symmetry, and mode interactions. The opening chapter provides an introduction to these subjects and motivates the study of systems with symmetry. Detailed case studies illustrate how group-theoretic methods can be used to analyze specific problems arising in applications.

Bifurcation theory studies how the structure of solutions to equations changes as parameters are varied. The nature of these changes depends both on the number of parameters and on the symmetries of the equations. Volume I discusses how singularity-theoretic techniques aid the understanding of transitions in multiparameter systems. This volume focuses on bifurcation problems with symmetry and shows how group-theoretic techniques aid the understanding of transitions in symmetric systems. Four broad topics are covered: group theory and steady-state bifurcation, equicariant singularity theory, Hopf bifurcation with symmetry, and mode interactions. The opening chapter provides an introduction to these subjects and motivates the study of systems with symmetry. Detailed case studies illustrate how group-theoretic methods can be used to analyze specific problems arising in applications.

This book has been written in a frankly partisian spirit-we believe that singularity theory offers an extremely useful approach to bifurcation prob lems and we hope to convert the reader to this view. In this preface we will discuss what we feel are the strengths of the singularity theory approach. This discussion then Ieads naturally into a discussion of the contents of the book and the prerequisites for reading it. Let us emphasize that our principal contribution in this area has been to apply pre-existing techniques from singularity theory, especially unfolding theory and classification theory, to bifurcation problems. Many ofthe ideas in this part of singularity theory were originally proposed by Rene Thom; the subject was then developed rigorously by John Matherand extended by V. I. Arnold. In applying this material to bifurcation problems, we were greatly encouraged by how weil the mathematical ideas of singularity theory meshed with the questions addressed by bifurcation theory. Concerning our title, Singularities and Groups in Bifurcation Theory, it should be mentioned that the present text is the first volume in a two-volume sequence. In this volume our emphasis is on singularity theory, with group theory playing a subordinate role. In Volume II the emphasis will be more balanced. Having made these remarks, Iet us set the context for the discussion of the strengths of the singularity theory approach to bifurcation. As we use the term, bifurcation theory is the study of equations with multiple solutions."