Life began in the sea, and even today most of the deep diversity of the planet is marine. This is often forgotten, especially in tropical countries like Costa Rica, renowned for their rain forests and the multitude of life forms found therein. Thus this book focusing on marine diversity of Costa Rica is particularly welcome. How many marine species are there in Costa Rica? The authors report a total of 6,777 species, or 3. 5% of the world's total. Yet the vast majority of marine species have yet to be formally described. Recent estimates of the numbers of species on coral reefs range from 1-9 million, so that the true number of marine species in Costa Rica is certainly far higher. In some groups the numbers are likely to be vastly higher because to date they have been so little studied. Only one species of nematode is reported, despite the fact that it has been said that nematodes are the most diverse of all marine groups. In better studied groups such as mollusks and crustaceans, reported numbers are in the thousands, but even in these groups many species remain to be described. Indeed the task of describing marine species is daunting - if there really are about 9 million marine species and Costa Rica has 3. 5% of them, then the total number would be over 300,000. Clearly, so much remains to be done that new approaches are needed. Genetic methods have en- mous promise in this regard.

Chronic Myeloid Leukemia (CML) remains a key model for the improved understanding of the pathophysiology of a malignancy at a molecular level and has been used by researchers to develop a variety of therapies and therapeutic assessment methods. This concise, readable guide assembles and synthesizes the latest developments and trends in the treatment of CML and provides an authoritative and convenient summary of the latest progress in imatinib trials, the molecular monitoring of CML responses, and the engineering of new therapies to overcome resistance and improve patient care. Providing critical insight and exploration of models that will enhance the cancer community at large, this source: stands as the only source to focus on post-Gleevec developments in CML therapeutics collects information from the forefront of the field-helping busy clinicians make informed management decisions supplies critical research from recognized opinion leaders on the topic provides an overview of the current status of new transplant modalities contains a vivid selection of color photographs

Life began in the sea, and even today most of the deep diversity of the planet is marine. This is often forgotten, especially in tropical countries like Costa Rica, renowned for their rain forests and the multitude of life forms found therein. Thus this book focusing on marine diversity of Costa Rica is particularly welcome. How many marine species are there in Costa Rica? The authors report a total of 6,777 species, or 3. 5% of the world's total. Yet the vast majority of marine species have yet to be formally described. Recent estimates of the numbers of species on coral reefs range from 1-9 million, so that the true number of marine species in Costa Rica is certainly far higher. In some groups the numbers are likely to be vastly higher because to date they have been so little studied. Only one species of nematode is reported, despite the fact that it has been said that nematodes are the most diverse of all marine groups. In better studied groups such as mollusks and crustaceans, reported numbers are in the thousands, but even in these groups many species remain to be described. Indeed the task of describing marine species is daunting - if there really are about 9 million marine species and Costa Rica has 3. 5% of them, then the total number would be over 300,000. Clearly, so much remains to be done that new approaches are needed. Genetic methods have en- mous promise in this regard.

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms.

Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises.Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

Nonholonomic systems are a widespread topic in several scientific and commercial domains, including robotics, locomotion and space exploration. This work sheds new light on this interdisciplinary character through the investigation of a variety of aspects coming from several disciplines. The main aim is to illustrate the idea that a better understanding of the geometric structures of mechanical systems unveils new and unknown aspects to them, and helps both analysis and design to solve standing problems and identify new challenges. In this way, separate areas of research such as Classical Mechanics, Differential Geometry, Numerical Analysis or Control Theory are brought together in this study of nonholonomic systems.