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Historically, one of the basic issues in control systems design has been robustness: the ability of a controlled plant to withstand variations in or lack of knowledge of its dynamics. Even if the dynamics of a system are accurately known for purposes of implementation, it is often desirable to design a control system based on a simplified model. Consequently it is essential to be able to guarantee a reasonable performance not only for the nominal plant, but also for its neighbouring perturbations: this is the issue of robustness. Since the beginning of this decade major advances have been made in this area, notably using the H -approach; this term is meant to cover the solution of sensitivity reduction, approximation and model reduction, robustness and related control design problems using the mathematics of Hardy spaces and related areas in Harmonic Analysis. This book contains the proceedings of the NATO Advanced Research Workshop on "Modelling, Robustness and Sensitivity Reduction in Control Systems", which was held at the University of Groningen, December 1986. Its aim was to explore the development of H -design techniques and its ramifications in Systems Theory in a unified and systematic way with the emphasis on recent advances and future directions in this fast developing area. In particular the following inter-related aspects were addressed: H -mathematical foundations, model approximation and robustness in control design, optimal sensitivity reduction, modelling and system identification and signal processing.

Proceedings of the NATO Advanced Study Institute on Polymer Colloids, University of Bristol, U.K.

Silicone Gels as Adjuvants: Effects on Humoral and Cellmediated Immune Responses; J.O. Naim, C.J. van Oss The Effect of Molecular Weight and Gel Preparation on Humoral Adjuvancy of Silicone Oils and Silicone Gels; J.O. Naim, C.J. van Oss Glucans as Immunological Adjuvants; N. Mohagheghpour, et al. Copolymer Adjuvants; R.N. Brey Regulation of Il4 and Il5 Secretion by Histamine and PGE2; M.M. Khan Immunoglobulin Isotype Modulation after Administration of Il12; V. Van Cleave, et al. Substance P Mediated Stimulation of Cytokine Levels in Cultured Murine Bone Marrow Stromal Cells; J.M. Manske, et al. Malaria Transmissionblocking Immunity: Identification of Epitopes and Evaluation of Immunogenicity; N. Kumar, et al. Experimental Feline Lyme Borreliosis As a Model for Testing Borrelia burgdorferi Vaccines; M.D. Gibson, et al. Liposoma Vaccines; S. Green, et al. Protection Strategies against Botulinum Toxin; L. Middlebrook Collagen Arthritis in T Cell Receptor Congenic Mice: A Unique Approach to Study the Role of T Cell Receptor Genotypes in Autoimmune Arthritis; G.H.H. Nabozny, C.S. David The Blood-Brain Barrier in Virusinduced Demyelination; C.J.R. Welsh, et al. 14 additional articles. Index.

Interactions of Neurotransmitters and Endothelial Cells in Determining Vascular Tone; J.T. Shepard Some Recent Advances in Studies on J Receptors; A.S. Paintal Pathophysiology of Bronchial Asthma; J.G. Widdicombe Laryngeal and Upper Airway Influences on Breathing; G. Sant'Ambrogio Regulation of Na+/K+ Pump Expression in Skeletal Muscle; S. Sampson Peripheral Arterial Chemoreceptors; Aortic and Abdominal Glomera; A. Howe Cellular Mechanisms of Modulation of Hypoglossal Motoneuron Activity; A. Berger Cardiac and Pulmonary C Fibers: Their Central Connections C. Kidd Central Nervous Mechanisms Responsible for Cardiorespiratory Homeostasis K.M. Spyer Neuroendocrine Regulation of Vascular Capacitance: F. Karim Lung Microphysiology; J. Bhattacharya Reflex Control of the Circulation in Heart Failure; I. Zucker Physiology of Atrial Receptors; R. Linden Aspects of Coronary Vasomotor Regulation; J. Hoffman Graded Restriction of Blood Flow in Exercising Leg Muscles: A Human Model; H. Bjurstedt Index.

355 articles arranged under the following sections: B and T Cells of the Mucosal Immune System: Trafficking and Cytokine Regulation. Nonlymphoid Cells of the Mucosal Immune System: Epithelial Cells, APC, and Other Cell Types. Development of Mucosal Immunity: Reproductive Tract, Ontogeny, Phylogeny, and Immunodeficiency. Gnotobiology, Environmental, Nutritional, and Intrinsic Factors in Mucosal Immunology. Structure, Proteolysis, and Function of Mucosal Immunoglobulins: Cellular Receptors. Clinical Immunology, Immunopathology, Immunodeficiency, and Allergology. Microbial, Parasite, and HIV Mucosal Infections. Immunology of the Liver. Oral Immunology and Immunopathology. Autoimmunity, Oral Tolerance, and Aging. Chronic Inflammation, Inflammatory Bowel Diseases and Celiac Disease. Induction of Mucosal Immune Responses and Vaccine Delivery Systems. Index.

1 Dietary Fat and Breast Cancer: Controversy and Biological Plausibility.- 2 Dietary Fat Intake Reduction for Patients with Resected Breast Cancer.- 3 Dietary Fat Reduction as a Hypothesis for the Prevention of Postmenopausal Breast Cancer, and a Discussion of Hypothesis Testing Research Strategies.- 4 Hormone Studies and the Diet and Breast Cancer Connection.- 5 Dietary Fat Effects on Animal Models of Breast Cancer.- 6 Effect of Conjugated Linoleic Acid on Carcinogenesis.- 7 A Possible Mechanism by Which Dietary Fat Can Alter Tumorigenesis: Lipid Modulation of Macrophage function.- 8 Dietary Fatty Acids and Human Breast Cancer Cell Growth, Invasion, and Metastasis.- 9 Meta-Analysis of Animal Experiments: Elucidating Relationships Between Dietary Fat and Mammary Tumor Development in Rodents.- 10 Vitamin A, Retinoids and Breast Cancer.- 11 Vitamin D Adequacy: A Possible Relationship to Breast Cancer.- 12 Vitamin D and Breast Cancer.- 13 Some Aspects of Vitamin E Related to Humans and Breast Cancer Prevention.- Poster Abstract.- Contributors.

Molecular Taxonomy: Classification and Identification; K.H. Schleifer, W. Ludwig. DNA Sequence Analysis of the Genetic Structure of Populations of Salmonella enterica and Escherichia coli; R.K. Selander, et al. Identification and Typing of Bacteria by Protein Electrophoresis; K. Kersters, et al. Characterisation and Identification of Microorganisms by FTIR Spectroscopy and FTIR Microscopy; D. Naumann, et al. Curie Point Pyrolysis Mass Spectrometry and Its Application to Bacterial Systematics; M. Goodfellow, et al. New Methods for Diagnosis and Epidemiological Studies of Tuberculosis Based on PCR and RFLP; C. Martín, et al. Typing in situ with Probes; R. Amann, W. Ludwig. The Use of Molecular Markers for the Detection and Typing of Bacteria in Soil; E.M.H. Wellington, et al. Phylogenetic Diversity of Methanogen Endosymbionts of Anaerobic Ciliates; T.M. Embley, B.J. Finlay. Diversity, Dynamics and Topographic Arrangement of Microorganisms Are Essential Parameters that Identify a Microbial Consortium; E. Conway de Macario, A.J.L. Macario. 8 additional articles. Index.

Eric Neil: An Appreciation.- International Meetings on Chemoreceptors: Historical Perspectives.- Oxygen Sensing in the Carotid Body: Ideas and Models.- Ionic Channels in Type I Carotid Body Cells.- Role of Intracellular pH and [Ca2]]iin Acid Chemoreception in Type I Cells of the Carotid Body.- Neurotransmitters in the Carotid Body.- Reflexes Arising from the Arterial Chemoreceptors.- Central Integration of Chemoreceptor Afferent Activity.- Chemoreceptor Function in the Fetus and Neonate.- The Role of Arterial Chemoreceptors in Ventilatory Acclimatization to Hypoxia.- Chemosensitivity from the Lungs of Vertebrates.- Heymans' Visit to Dublin to Review "Buffer" Nerve Experiments.- A Belated Centennial Tribute to Corneille Heymans.- Glomera that are not Chemosensitive.- Electrotonic Coupling Between Carotid Body Glomus Cells.- CO-binding Chromophores in Oxygen Chemoreception in the Carotid Body.- Actions of Nicotinic Agonists on Isolated Type I Cells of the Neonatal Rat Carotid Body.- Ca2+-Activated K+-Channels from Isolated Type I Carotid Body Cells of the Neonatal Rat.- Culturing Carotid Body Cells of Adult Cats.- Plasticity in Cultured Arterial Chemoreceptors: Effects of Chronic Hypoxia and Cyclic AMP Analogs.- Carotid Body Chemoreception: Role of Extracellular Ca2+.- Cytosolic Calcium in Isolated Type I Cells of The Adult Rabbit Carotid Body: Effects of Hypoxia, Cyanide and Changes in Intracellular pH.- Characterization of Membrane Currents in Pulmonary Neuroepithelial Bodies: Hypoxia-Sensitive Airway Chemoreceptors.- Ionic Currents on Endothelial Cells of Rat Brain Capillaries.- Urokinase and its Receptor: Markers of Malignancy?.- Electrochemical Measurement of Rapid Dopamine Release in Perfused Cat Carotid Body during Onset of Hypoxia.- Hypoxia-Induced Catecholamine Release from Rat Carotid Body, In Vitro, during Maturation and following Chronic Hypoxia.- Assessment of Na+ Channel Involvement in the Release of Catecholamines from Chemoreceptor Cells of the Carotid Body.- Activation of GTP-binding Proteins by Aluminum Fluoride Modulates Catecholamine Release in the Rabbit Carotid Body.- Catecholamines in the Rabbit Carotid Body: Content And Secretion.- Cholinergic Aspects of Carotid Body Chemotransduction.- Low PO2 Dependency of Neutral Endopeptidase and Acetylcholinesterase Activities of the Rat Carotid Body.- Nitric Oxide Synthase Occurs in Neurons and Nerve Fibers of the Carotid Body.- NO Mimics O2 in the Carotid Body Chemoreception.- Mechanisms of Carotid Body Inhibition.- Proportional Sensitivity of Arterial Chemoreceptors to CO2.- Effects of Expiratory Duration on Chemoreceptor Oscillations.- Effects of Intravenous Infusions of KCl and Lactic Acid On Chemoreceptor Discharge In Anaesthetized Cats.- The Effect of Intravenous Infusion of Lactic Acid on Carotid Chemoreceptor Discharge in Anaesthetized Cats Ventilated with Room Air or 100% O2.- The Carotid Bodies as Thermosensors: Experiments in vitro and in situ, and Importance for Ventilatory Regulation.- Inhibition of Ventilation by Carotid Body Hypocapnia during Sleep.- Metabolic Acid-Base Status and the Role of Carotid Chemoreceptors in Hyperoxic Breathing.- Ventilatory Responses to Histotoxic Chemostimulation in Hypoxia Adapted Rats.- Chemoreflex Sensitization Augments Sympathetic Vasomotor Outflow in Awake Humans.- Carotid Chemoreceptor Control of Vascular Resistance in Resting and Contracting Skeletal Muscle.- Substance P Inhibits Ventilation in the Goat.- Central Glutamate and Substance-P in the Hypoxic Ventilatory Response.- Carotid Chemoreceptor Activity and Heart Rate Responsiveness to Hypoxia after Inhibition of Nitric Oxide Synthase.- Effects of Endothelins on Respiration and Arterial Chemoreceptor Activity in Anaesthetised Rats.- Changes in Blood Glucose Concentration in the Carotid Body Modify Brain Glucose Retention.- Is the Second Carotid Body Redundant?.- Activity of Cardiac Vagal Preganglionic Neurones during the Pulmonary Chemoreflex in the Anaestheti...

Cell Biology: Gammadelta T Lymphocytes in Mice and Man: A Review; J. Borst, et al. Ontogeny: Features and Functions of Epidermal T Lymphocytes; G. Stingl, et al. Lymphocyte Homing: Cytokine Neuropeptide Interactions in the Skin; T.A. Luger, et al. Effect of UV Light on Cytokine Production by Epidermal Cells; T. Schwarz, et al. Viruses: A New Retrovirus from Cutaneous Tcell Lymphoma; V. Manzari, et al. Survey of Cutaneous Tcell Lymphomas for Human Tlymphotropic Virus Infection; M. D'Incan, et al. Histology: Inflammatory Precursors of Mycosis Fungoides; W.C. Lambert. The Histological Spectrum of Cutaneous Tcell Lymphoma; N. Smith. Genotyping: BCL2 Gene Rearrangement and Protein Expression in Primary Cutaneous Bcell Lymphomas; F. Pezzella, et al. Immunomodulation and Tumor Progression. 35 additional articles. Index.

1) Mechanism of Fe(II) Oxidation and Core Formation in Ferritin.- 2) Chemico-Physical and Functional Differences Between H and L Chains of Human Ferritin.- 3) Iron Oxidation in Sheep, Horse and Recombinant Human Apoferritins.- 4) The Transferrin Receptor and the Release of Iron from Transferrin.- 5) The Roles of Secondary Binding Sites for Transferrin in the Liver and on Macrophages.- 6) Optimized Separation and Quantitation of Serum and Cerebrospinal Fluid Transferrin Subfractions Defined by Differences in Iron Saturation or Glycan Composition.- 7) Mechanism of Production of the Serum Transferrin Receptor.- 8) Iron Absorption and Cellular Uptake of Iron.- 9) Ferric Iron Reduction and Iron Uptake in Eucaryotes: Studies with the Yeasts Saccharomyces cerevisiae and Schizosaccharomyces pombe.- 10) Cellular Responses to Iron and Iron Compounds.- 11) The Structure and Function of Iron Regulatory Factor.- 12) Structure and Function of IREs, the Noncoding mRNA Sequences Regulating Synthesis of Ferritin, Transferrin Receptor and (Erythroid) 5-Aminolevulinate Synthase.- 13) Translational Control by Iron-Responsive Elements.- 14) The Role of Cytokines in the Regulation of Ferritin Expression.- 15) Stimulation of IRE-BP Activity of IREF by Tetrahydrobiopterin and Cytokine Dependent Induction of Nitric Oxide Synthase.- 16) Reciprocal Modulation of Aconitase Activity and RNA-binding Activity of Iron Regulatory Factor by Nitric Oxide.- 17) A New Look at Ferritin Metabolism.- 18) Bacterioferritin: A Hemoprotein Member of the Ferritin Family.- 19) Intracellular Iron.- 20) Distinct Features of Iron Metabolism in Erythroid Cells: Implications for Heme Synthesis Regulation.- 21) Cellular Ferritin Uptake: A Highly Regulated Pathway for Iron Assimilation in Human Erythroid Precursor Cells.- 22) Differential Effects of Iron and Iron Carrier on Hematopoietic Cell Differentiation and Human ADA Gene Transfer.- 23) A Hemin-Inducible Enhancer Lies 4. 5 Kb Upstream of the Mouse Ferritin H Subunit Gene.- 24) Iron Deficiency: The Global Perspective.- 25) Iron Regulation in the Brain at the Cell and Molecular Level.- 26) Pathophysiology of Iron Toxicity.- 27) Morphologic Observations in Iron Overload: An Update.- 28) Identification of Thiolic Sarcolemmal Proteins as a Primary Target of Iron Toxicity in Cultured Heart Cells.- 29) Iron Overload and the Biliary Route.- 30) Changing Concepts of Haemochromatosis.- 31) Epidemiology, Clinical Spectrum and Prognosis of Hemochromatosis.- 32) The Morbidity of Hemochromatosis Among Clinically Unselected Homozygotes: Preliminary Report.- 33) Genetics of Haemochromatosis.- 34) Localization of Seven New Genes Around the HLA-A Locus.- 35) Searching for the Hemochromatosis Grail.- 36) Iron Chelator Design.- 37) Results from a Phase I Clinical Trial of HBED.- 38) Lessons from Preclinical and Clinical Studies with 1,2-Diethyl-3-Hydroxypyridin-4-One, CP94 and Related Compounds.- 39) Iron Chelation Therapy for Malaria.- 40) The Biochemical Basis for the Selective Antimalarial Action of Iron Chelators on Plasmodium Falciparum Parasitized Cells.

HPV Gene Expression: The Antibody Response Against p53 in Cancer Patients (G. Matlashewski). Enhanced Production of WildType p53 Inhibits Growth and Differentiation of Normal Foreskin Epithelial Cells but not Cell Lines Containing Human Papillomavirus DNA (C.D. Woodworth et al.). Humoral Responses to HPV: Humoral Immune Response to Genital Human Papillomavirus Infections (L. Gissman). HPV 16 Antibodies in Cervical Cancer Patients and Healthy Control Women (V. Vonka et al.). Cell Mediated Immunity to HPV: Evolution of Class I HLA Antigen Presenting Molecules (P. Parham). Major Histocompatibility Complex Expression and Antigen Presentation in Cervical Cancer (J.S. Bartholomew et al.). Animal Models and Therapeutic Strategies: Skin Test Reactivity to Papilloma Cells Is Long Lasting in Domestic Rabbits After Regression of Cottontail Rabbit PapillomavirusInduced Papillomas (R.M. Höpfl et al.). 42 additional articles. Index.

Clinical Manifestations and Treatment: Clinical Manifestations of Lyme Borreliosis in an Italian Endemic Region; G. Bianchi. Lyme Borreliosis in Children; H.J. Christen, F. Hanefield. Ecology and Epidemiology: Lyme Borreliosis in Australia; R.D. Barry, et al. Geographic Diversity of Lyme Borreliosis; G. Bianchi. Role of Host Density in the Ecology of Lyme Disease; T.E. Awerbuch, A. Spielman. Biology of Immunopathogenesis: Expression of Public Idiotypes in Patients with Lyme Arthritis; J.S. Axford, et al. Lyme Disease in an Experimental Model; M.D. Gibson, et al. Chemotaxonomy of Borrelia; M.A. Livesley, P.A. Nuttall. Diagnosis: Detection of Lyme Disease Spirochaete DNA in Clinical Samples; K.J. Cann, et al. Clinical and Serological Study of Lyme Borreliosis in a Population of Neurological Patients; E. Capello. Pitfalls in the Laboratory Diagnosis of Lyme Borreliosis; S.J. Cutler. 36 additional articles. Index.

Antibiotics: Polyketide Synthetases; C.R. Hutchinson. Biosynthetic Studies on Antibiotics; K.L. Rinehart, et al. Natural Toxins: The Biosynthesis of Nicotine and Related Alkaloids in Intact Plants, Isolated Plant Parts, Tissue Cultures, and Cell-Free Systems; E. Leete. Examination of Tetrahydro and Dihydrobisfuran Formation in Aflatoxin Biosynthesis; C.A. Townsend, et al. Herbicides, Phytoalexins, and Microbial Metabolites: Microorganisms; B.G. Isaac, et al. Applications of Whole Cell Fungal Systems an Models of Mammalian Xenobiotic/Drug Metabolism; P.J. Davis, et al. Isoprenoid Pathway: Biosynthesis of Sesquiterpenoid Phytoalexins in Cotton Foliar Tissue; M. Essenberg, et al. Carotenoid Biosynthesis and Regulation in Plants; B. Camara, et al. Rubber: Enzymatic Synthesis of a Rubber Polymer; K.V. Venkatachalam, et al. 18 additional articles. Index.

Methods to Describe Fish Stocks; R. Guyomard. Spatial Organization of Pacific Salmon; B.E. Riddell. Status of Biodiversity of Taxa and Nontaxa of Salmonid Fishes; R.J. Behnte. Requirements for Genetic Data on Adaptations to Environment and Habitats of Salmonids; C.D. Levingo. Impacts of Fishing on Genetic Structure of Salmonid Populations; J.E. Thorpe. Genetic Change in Hatchery Populations; G.A.E. Gall. Potential Impacts of Transgenic and Genetically Manipulated Fish on Natural Populations; E. Hallerman, A. Kapuscinski. The Reproductive Containment of Genetically Altered Salmonids; E.M. Donalson, et al. Germplasm Repositories for Plants; R.L. Clark. Advances in Cryopreservation of Embryos and Prospects for Application to the Conservation of Salmonid Fishes; W.F. Rall. Genetic Resource Banks and Reproductive Technology for Wildlife Conservation; D.E. Wildt, et al. Cryopreservation of Fish Spermatozoa; B. Harvey. 14 additional articles. Index.

Components of Signal Transduction: The Metabolic Fates and Cellular Functions of Myoinositol; I. Batty, et al. Activation Mechanisms of Phospholipase C Isozymes; S.G. Rhee. Receptor Function and Regulation: Lysophosphatidic Acid as a Lipid Mediator; W. Moolenaar, et al. Modulation of Opioid Receptor Function by Membrane Lipids; F. Medzihradsky. Transcription Factors and Gene Regulation: Regulation of Gene Expression in Rodent Hepatocytes; K.G. Xanthopoulos. Transcription Factor CREM; D. Masquilier. Biosynthesis, Insertion, and Function of Membrane Components: Transmembrane Lipid Asymmetry in Eukaryotes; P.F. Devaux, A. Zachowski. Phosphatidylinositol Transfer Protein and Membrane Vesicle Flow; K.W.A. Wirtz, G.T. Snoek. Membrane Peroxidation and Protection: The Effects of Oxygen-Derived Free Radicals On Lipids, Protein and their Interactions; C. Rice-Evans. The Vitamin E Antitoxidant Cycle in Health and Disease; L. Packer. 17 additional articles. Index.

The Workshop on "Evolutionary Tinkering in Gene Expression" which was held at the end of August 1988. O .* E. the course was supported by minor industrial subsidies of varying amounts which enabled the organizers to improve some of the local facilities particularly with respect to the lecture hall.

NATO's Division of Scientific and Environmental Affairs sponsored this Advan­ ced Study Institute because it was felt to be timely to cover this important and challengjng subject for the first time in the framework of NATO's ASI programme. The significance of real-time systems in everyones' life is rapidly growing. The vast spectrum of these systems can be characterised by just a few examples of increasing complexity: controllers in washing machines, air traffic control systems, control and safety systems of nuclear power plants and, finally, future military systems like the Strategic Defense Initiative (SDI). The import­ ance of such systems for the well-being of people requires considerable efforts in research and development of highly reliable real-time systems. Furthermore, the competitiveness and prosperity of entire nations now depend on the early app­ lication and efficient utilisation of computer integrated manufacturing systems (CIM), of which real-time systems are an essential and decisive part. Owing to its key significance in computerised defence systems, real-time computing has also a special importance for the Alliance. The early research and development activities in this field in the 1960s and 1970s aimed towards improving the then unsatisfactory software situation. Thus, the first high-level real-time languages were defined and developed: RTL/2, Coral 66, Procol, LTR, and PEARL. In close connection with these language develop­ ments and with the utilisation of special purpose process control peripherals, the research on real-time operating systems advanced considerably.

Constraint programming is like an octopus spreading its tentacles into databases, operations research, artificial intelligence, and many other areas. The concept of constraint programming was introduced in artificial intelligence and graphics in the 1960s and 1970s. Now the related techniques are used and studied in many fields of computing. Different aspects of constraint processing are investigated in theoretical computer science, logic programming, knowledge representation, operations research, and related application domains. Constraint programming has been included in the lists of related topics of many conferences. Nevertheless, only in 1993 were the first forums held, devoted as a whole to this field of knowledge. These were the First Workshop on Principles and Practice of Constraint Programming (PPCP'93) which was held in Newport, Rhode Island, USA, April 28-30, the International Workshop on Constraint Processing (at CSAM'93) held in St. Petersburg, Russia, July 20-21, and the NATO Advanced Study Institute (NATO AS!) on Constraint Programming held in Parnu, Estonia, August 13-24. NATO A Sis are aimed to be schools bringing together leading researchers and practitioners from industry and academia in some area of knowledge to provide a concise picture of the work done and results obtained by different groups. This is intended for dissemination of advanced knowledge not yet taught regularly in of new topics university. However, ASis must also encourage the introduction into university curricula as well as foster international scientific contacts.

This volume is an outgrowth of a NATO Advanced Research Workshop on "Expert Judgment and Expert Systems," held in Porto, Portugal, August 1986. Support for the Workshop was provided by the NATO Division of Scientific Affairs, the U.S. Army Research Institute, and the U.S. National Science Foundation. The Workshop brought together researchers from the fields of psychology, decision analysis, and artificial intelligence. The purposes were to assess similarities, differences, and complementarities among the three approaches to the study of expert judgment; to evaluate their relative strengths and weaknesses; and to propose profitable linkages between them. Each of the papers in the present volume is directed toward one or more of those goals. We wish to express our appreciation and thanks to the following persons for their support and assistance: John Adams, Vincent T. Covello, Luis da Cunha, Claire Jeseo, B. Michael Kantrowitz, Margaret Lally, Judith Orasanu, R. M. Rodrigues, and Sandor P. Schuman.

As robots improve in efficiency and intelligence, there is a growing need to develop more efficient, accurate and powerful sensors in accordance with the tasks to be robotized. This has led to a great increase in the study and development of different kinds of sensor devices and perception systems over the last ten years. Applications that differ from the industrial ones are often more demanding in sensorics since the environment is not usually so well structured. Spatial and agricultural applications are examples of situations where the environment is unknown or variable. Therefore, the work to be done by a robot cannot be strictly programmed and there must be an interactive communication with the environment. It cannot be denied that evolution and development in robotics are closely related to the advances made in sensorics. The first vision and force sensors utilizing discrete components resulted in a very low resolution and poor accuracy. However, progress in VLSI, imaging devices and other technologies have led to the development of more efficient sensor and perception systems which are able to supply the necessary data to robots.

These proceedings contain lectures presented at the NATO-NSF-ARO sponsored Advanced Study I~stitute on "Computer Aided Analysis and Optimization of Mechanical System Dynamics" held in Iowa City, Iowa, 1-12 August, 1983. Lectures were presented by free world leaders in the field of machine dynamics and optimization. Participants in the Institute were specialists from throughout NATO, many of whom presented contributed papers during the Institute and all of whom participated actively in discussions on technical aspects of the subject. The proceedings are organized into five parts, each addressing a technical aspect of the field of computational methods in dynamic analysis and design of mechanical systems. The introductory paper presented first in the text outlines some of the numerous technical considerations that must be given to organizing effective and efficient computational methods and computer codes to serve engineers in dynamic analysis and design of mechanical systems. Two substantially different approaches to the field are identified in this introduction and are given attention throughout the text. The first and most classical approach uses a minimal set of Lagrangian generalized coordinates to formulate equations of motion with a small number of constraints. The second method uses a maximal set of cartesian coordinates and leads to a large number of differential and algebraic constraint equations of rather simple form. These fundamentally different approaches and associated methods of symbolic computation, numerical integration, and use of computer graphics are addressed throughout the proceedings.

Deductive program design aims at methods that guide and support the development of programs by techniques of deduction. Deduction is a well-known subject of study in logical theories. However, the application of deductive techniques in program design needs methods, heuristics, and understanding of the required forms and formats of the development result that go far beyond those found in logical theories. The summer school presents a very broad spectrum of approaches to these issues. Edsger W. Dijkstra gives a number of beautiful examples that show how to design proofs. Samson Abramsky, Simon Gay, and Rajagopal Nagarajan contribute a fundamental study founding concurrent programming on interaction categories and foundations of type theory. Tony Hoare presents unifying views on mathematical models for computing science. Unifying theories are especially important if the whole development process of programs is to be supported by deductive techniques. The rest of the contributions address applications of deductive program design methods. They are directed to different areas of application; for example Richard Bird's and Oege de Moor's algebra of programming is mainly intended for classical functional programming, and the contribution on data refinement and their transformation by David Gries considers sequential procedural programs.

Proceedings of the NATO Advanced Research Workshop on Phospholipids and Signal Transmission, held at Wiesbaden, Germany, May 29-June 2, 1991

As topological questions playa role in non-standard theories as weIl, it will be found that some of the lectures and seminar talks in this volume adopt the point of view of standard relativity, whereas others are based on different theories, such as Kaluza-Klein theories, bimetric theories, and supergravity.

This volume contains the texts of the nineteen lectures presented at the NATO-ASI - FEBS Course on "DNA - ligand interactions: from drugs to proteins." Italy in May 1981 and which was published in the NATO ASI Life Science series as volume 45. Some of the contributions at the ASI presented the most recent advances in this e>:citing field.

Proceedings of the NATO Advanced Research Workshop Towards a Model of Ocean Biogeochemical Processes, held at Chateau de Bonas, France, May 3-9, 1992

Proceedings of the NATO Advanced Research Workshop on Multisensor Fusion for Computer Vision, held in Grenoble, France, June 26-30, 1989

"Published in cooperation with NATO Scientific Affairs Division."