xx PREFACE TO THE FIRST EDITION
Dimitris Dimogianopoulos, Jiu Ding, D. Z. Djokovic, R. Scott Erwin, R. W. Fare-
brother, Danny Georgiev, Joseph Grcar, Wassim Haddad, Yoram Halevi, Jesse
Hoagg, Roger Horn, David Hyland, Iman Izadi, Pierre Kabamba, Vikram Kapila,
Fuad Kittaneh, Seth Lacy, Thomas Laffey, Cedric Langbort, Alan Laub, Alexan-
der Leonessa, Kai-Yew Lum, Pertti Makila, Roy Mathias, N. Harris McClamroch,
Boris Mordukhovich, Sergei Nersesov, JinHyoung Oh, Concetta Pilotto, Harish
Palanthandalum-Madapusi, Michael Piovoso, Leiba Rodman, Phil Roe, Carsten
Scherer, Wasin So, Andy Sparks, Edward Tate, Yongge Tian, Panagiotis Tsiotras,
Feng Tyan, Ravi Venugopal, Jan Willems, Hong Wong, Vera Zeidan, Xingzhi Zhan,
and Fuzhen Zhang for their assistance. Nevertheless, I take full responsibility for
any remaining errors, and I encourage readers to alert me to any mistakes, correc-
tions of which will be posted on the web. Solutions to the open problems are also
welcome.
Portions of the manuscript were typed by Jill Straehla and Linda Smith at
Harris Corporation, and by Debbie Laird, Kathy Stolaruk, and Suzanne Smith at
the University of Michigan. John Rogosich of Techsetters, Inc., provided invaluable
assistance with LATEX issues, and Jennifer Slater carefully copyedited the entire
manuscript. I also thank JinHyoung Oh and Joshua Kang for writing C code to
refine the index.
I especially thank Vickie Kearn of Princeton University Press for her wise
guidance and constant encouragement. Vickie managed to address all of my con-
cerns and anxieties, and helped me improve the manuscript in many ways.
Finally, I extend my greatest appreciation for the (uncountably) infinite pa-
tience of my family, who endured the days, weeks, months, and years that this
project consumed. The writing of this book began with toddlers and ended with a
teenager and a twenty-year old. We can all be thankful it is finally finished.
Dennis S. Bernstein
Ann Arbor, Michigan
[email protected]
January 2005