Some of the work described here was supported by the Engineering and Physical Sciences Research Council. In particular, some of the ideas arose as part of the following grants:
In the course of writing this book we have had the pleasure of discussing ideas and concepts with many people, all of whom have contributed in some measure to refining the material contained herein. We thank our friends and colleagues at Glasgow and elsewhere in the world, including: Mohamed Abderrahim, John Asbury, Donald Ballance, Des Costello, Marisol Delgado, Bill Gray, John Howell, Dean Karnopp, Peter Larcombe, Derek Linkens, Richard Jones, Sheena Mackenzie, Yasmine Mather, Neil Marrison, Jack Ponton, David Roberts, Jean Thoma, George Worship and Arthur Whittaker. However all errors and misconceptions are our own responsibility.
We would like to express our thanks to our respective families: Rosemary, Katharine, Sylvia, Joni and Alexis for their support and encouragement. Some early drafts were completed by Peter Gawthrop at his parents' home by the sea in Cumbria; and he wishes to express his gratitude to them for providing such a stimulating environment for work.
Thanks are also due to Christopher Glennie and the team at Prentice Hall for their tolerance and encouragment thus ensuring that this work was completed.