I would like to thank all of those who have helped me, especially my wife, Annemarie. Her patient assistance and sure hand with language have been essential in the preparation of this book. Heartfelt thanks also to Pat Cunningham for his painstaking proof-reading and advice on comma usage!

My fellow engineers have given generously of their time in helping me to make sure that what I have written represents consensus opinion, most notably: Gareth Brown, Chris Davis, Harvey Dearden, Mike Dee, Carlos Harrison, Myke King, Liangming Lee, Jim Madden, Brian Marshall, Keith Plumb, Ken Rollins, Michael Spreadbury, and Alun Rees. Thanks also to my colleagues George Chen and Giorgios Dimitrakis at the University of Nottingham for their ...

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