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Whole-Body Control for Multi-Contact Balancing of Humanoid Robots: Design and Experiments (Springer Tracts in Advanced Robotics #143)
by Bernd HenzeThis book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Whole-Body Impedance Control of Wheeled Humanoid Robots
by Alexander DietrichIntroducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin' Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Whole Body Vibrations: Physical and Biological Effects on the Human Body
by Redha Taiar Christiano Bittencourt Machado Xavier Chiementin Mario Bernardo-FilhoWhole Body Vibrations: Physical and Biological Effects on the Human Body allows an understanding about the qualities and disadvantages of vibration exposure on the human body with a biomechanical and medical perspective. It offers a comprehensive range of principles, methods, techniques and tools to provide the reader with a clear knowledge of the impact of vibration on human tissues and physiological processes. The text considers physical, mechanical and biomechanical aspects and it is illustrated by key application domains such as sports and medicine. Consisting of 11 chapters in total, the first three chapters provide useful tools for measuring, generating, simulating and processing vibration signals. The following seven chapters are applications in different fields of expertise, from performance to health, with localized or global effects. Since unfortunately there are undesirable effects from the exposure to mechanical vibrations, a final chapter is dedicated to this issue. Engineers, researchers and students from biomedical engineering and health sciences, as well as industrial professionals can profit from this compendium of knowledge about mechanical vibration applied to the human body. Provides biomechanical and medical perspectives to understanding the qualities and disadvantages of vibration exposure on the human body Offers a range of principles, methods, techniques, and tools to evaluate the impact of vibration on human tissues and physiological processes Explores mechanical vibration techniques used to improve human performance Discusses the strong association between health and human well-being Explores physical, mechanical, and biomechanical aspects of vibration exposure in domains such as sports and medicine
The Whole Building Handbook: How to Design Healthy, Efficient and Sustainable Buildings
by Maria Block Varis BokaldersThe Whole Building Handbook is a compendium of all the issues and strategies that architects need to understand to design and construct sustainable buildings for a sustainable society. The authors move beyond the current definition of sustainability in architecture, which tends to focus on energy-efficiency, to include guidance for architecture that promotes social cohesion, personal health, renewable energy sources, water and waste recycling systems, permaculture, energy conservation - and crucially, buildings in relation to their place. The authors offer a holistic approach to sustainable architecture and authoritative technical advice, on: * How to design and construct healthy buildings, through choosing suitable materials, healthy service systems, and designing a healthy and comfortable indoor climate, including solutions for avoiding problems with moisture, radon and noise as well as how to facilitate cleaning and maintenance. * How to design and construct buildings that use resources efficiently, where heating and cooling needs and electricity use is minimized and water-saving technologies and garbage recycling technologies are used. * How to 'close' organic waste, sewage, heat and energy cycles. For example, how to design a sewage system that recycles nutrients. * Includes a section on adaptation of buildings to local conditions, looking at how a site must be studied with respect to nature, climate and community structure as well as human activities. The result is a comprehensive, thoroughly illustrated and carefully structured textbook and reference.
Whole Earth: The Many Lives of Stewart Brand
by John MarkoffTold by one of our greatest chroniclers of technology and society, the definitive biography of iconic serial visionary Stewart Brand, from the Merry Pranksters and the generation-defining Whole Earth Catalog to the marriage of environmental consciousness and hacker capitalism and the rise of a new planetary culture—the story behind so many other storiesStewart Brand has long been famous if you know who he is, but for many people outside the counterculture, early computing, or the environmental movement, he is perhaps best known for his famous mantra &“Stay Hungry. Stay Foolish.&” Steve Jobs&’s endorsement of these words as his code to live by is fitting; Brand has played many roles, but one of the most important is as a model for how to live. The contradictions are striking: A blond-haired WASP with a modest family inheritance, Brand went to Exeter and Stanford and was an army veteran, but in California in the 1960s he became an artist and a photographer in the thick of the LSD revolution. While tripping on acid on the roof of his building, he envisioned how valuable it would be for humans to see a photograph of the planet they shared from space, an image that in the end landed on the cover of his Whole Earth Catalog, the defining publication of the counterculture. He married a Native American woman and was committed to protecting indigenous culture, which connected to a broader environmentalist mission that has been a through line of his life. At the same time, he has outraged purists because of his pragmatic embrace of useful technologies, including nuclear power, in the fight against climate change. The famous tagline promise of his catalog was &“Access to Tools&”; with rare exceptions he rejected politics for a focus on direct power. It was no wonder, then, that he was early to the promise of the computer revolution and helped define it for the wider world. Brand's life can be hard to fit onto one screen. John Markoff, also a great chronicler of tech culture, has done something extraordinary in unfolding the rich, twisting story of Brand&’s life against its proper landscape. As Markoff makes marvelously clear, the streams of individualism, respect for science, environmentalism, and Eastern and indigenous thought that flow through Brand&’s entire life form a powerful gestalt, a California state of mind that has a hegemonic power to this day. His way of thinking embraces a true planetary consciousness that may be the best hope we humans collectively have.
Whole Energy System Dynamics: Theory, modelling and policy
by Catalina SpataruIn order to address the twenty-first-century challenges of decarbonisation, energy security and cost-effectiveness it is essential to understand whole energy systems and the interconnection and interaction between different components. An integrated language is therefore needed to assist energy policymakers and to help industrial stakeholders assess future energy systems and infrastructure and make realistic technical and economic decisions. Whole Energy System Dynamics provides an interdisciplinary approach to whole energy systems; providing insights and understanding of it in the context of challenges, opportunities and solutions at different levels and time steps. It discusses approaches across disciplinary boundaries as well as existing issues within three main themes: theory, modelling and policy, and their interlinkage with geopolitics, markets and practice. Spataru argues that there is an urgent need for a whole energy system integration. This is necessary for effective analysis, design and control of the interactions and interdependencies involved in the technical, economic, regulatory and social dimensions of the energy system. This book is essential reading for students interested in the area of energy systems, policy and modelling. It is also a valuable read for policymakers, professionals, researchers, academics, engineers and industrial stakeholders.
Whole Energy Systems: Bridging the Gap via Vector-Coupling Technologies (Power Systems)
by Behnam Mohammadi-Ivatloo Vahid VahidinasabThis book provides a thorough overview of the concept of whole energy systems and the role of vector-coupling technologies (VCTs) in meeting long-term decarbonization strategies. It is the first comprehensive reference that provides basic definitions and fundamental, applicable approaches to whole energy systems analysis and vector-coupling technologies in a multidisciplinary way. Whole Energy Systems presents practical methods with evidence from applications to real-world and simulated coupled energy systems. Sample analytical examples are provided to aid in the understanding of the presented methods. The book will provide researchers and industry stakeholders focused on whole energy systems, as well researchers and developers from different branches of engineering, energy, economics, and operation research, with state-of-the-art coverage and the latest developments in the field.
Whole Farm Management: From Start-Up to Sustainability
by Edited by Garry StephensonFarming is a business as well as a way of life. Whole Farm Management is a comprehensive guide developed by the Small Farms Program at Oregon State University to help aspiring and beginner farmers make smart, strategic business decisions to ensure lasting success. In clear, accessible language, readers are led through every essential step, from developing a strategic plan to acquiring equipment, establishing infrastructure, finding markets, budgeting, managing day-to-day operations, and selecting a business structure for long-term viability. The emphasis throughout is on using sustainable agricultural systems and managing the whole farm, whether raising grass-based livestock, perennial food crops, or annual crops such as flowers. Case studies of successful farms, along with guidance and solutions to common problems from long-time farmers, round out this essential handbook. This publication conforms to the EPUB Accessibility specification at WCAG 2.0 Level AA.
Whole-Farm Planning
by Elizabeth HendersonPart of the NOFA Guides. Includes information on:-Lessons from systems science (including tools)-Assessing the whole farm (what are we managing? The people, physical and mental assets, money)-Understanding the farm ecosystems (the water and mineral cycles, dynamics of biological community, energy flow)-Choosing appropriate tools-Making a framework to test decisionsIncluding examples and statements from practicing farmers, and more holistic resources and alternative business models.
The Whole Goat Handbook: Recipes, Cheese, Soap, Crafts & More
by Janet HurstLearn how to select your animal, understand the breed, and how to use the products it will supply in this book written by a goat farmer for goat farmers. Goats are the hottest animal today to raise for hobby farmers, commercial farmers, and members of both 4-H and FFA. But using the products from a goat requires special skills, handling, and recipes. Here's The Whole Goat Handbook, chock full of recipes, crafting projects, advice, and more. Cooking with goat meat requires special, adapted instructions because the meat is so strong in flavor; there's no devoted goat-meat cookbook on the market—until now! Here as well are recipes for making cheese with goat milk as well as goat-milk soap. And for those raising goats for fiber, here are hard-won recommendations on crafting, knitting, and weaving. This book shows you how to do all this—and more.
The Whole Grain Promise: More Than 100 Recipes to Jumpstart a Healthier Diet
by Robin AsbellFrom quinoa to bulgar and millet to kasha, whole grains add a hearty, healthy, and flavorful boost to any meal. In The Whole Grain Promise, Robin Asbell shares quick and easy whole grain recipes that will entice the pickiest eater and appeal to the whole family. Whether you want to improve your health or try something new for dinner, whole grains are the perfect place to start. Beginning with the basics, Robin takes you through the major types of grains, their health benefits, and how best to cook them. From there, she offers more than 100 mouthwatering recipes that will encourage everyone to embrace the whole grain diet. With everything from Grain-Crust Spinach Cauliflower Quiche to Fudgy Brownie Cupcakes, The Whole Grain Promise will tempt your family with food that's not only healthy, but delicious!
Whole Grains: Processing, Product Development, and Nutritional Aspects
by Annamalai Manickavasagan Manzoor Ahmad Shah Shabir Ahmad MirWhole grains play an important role in healthy diets, due to their potential role in minimizing the risk factors for several diseases. Thus the need for a comprehensive work that addresses all aspects of whole grain technology including processing, product development and nutrition values. This book covers the technological, nutritional and product development aspects of all whole grains including wheat, rice, barley, rye, sorghum, millet, maize, and oats among others. The book will review and summarize current knowledge in whole grains with the intent of being helpful to the food industry in the development of high-quality whole grain products. Key Features: Covers the technology for whole grain processing Promotes the utilization of whole grain products Provides the information about the nutritional components of whole grains Explores the health benefits of whole grains Presents the latest trends and safety concerns of whole grains The chapters include amaranth, barley, brown rice, buckwheat, maize, millets, oats, quinoa, rye, sorghum, and wheat. In addition, current trends in processing technology and product development for whole grains are explained in detail in a separate chapter. The last chapter deals with the food safety management of whole grains. Contributions from global experts in this field make this book a key reference material for all aspects of whole grains. This book is suitable for students, scientists, and professionals in food science, food engineering, food technology, food processing, product development, food marketing, nutrition and other health sciences.
Whole Grains and Health
by Rikard Landberg Nathalie ScheersWHOLE GRAINS AND HEALTH The updated guide to whole grains and their integral role in nutritional healthIn an increasingly health-conscious society, the potential benefits of whole grain products are of paramount importance to manufacturers, dieticians, and consumers alike. Whole Grains and Health covers all aspects of this crucial topic, presenting a data-driven study of whole grains’ functional components, associated biomarkers and overall impact upon human health. Now in its second edition, the text has been revised and expanded to include six new chapters and groundbreaking new data. This essential guide features:Summaries of large research projects on the health effects of whole grain in Europe and the USNew data on the associations between whole grain consumption and risk of developing chronic diseases Discussions of metabolomics and their use in addressing health effects and finding new biomarkers of both dietary exposure and health effects related to the diet Information on the use of genomics in studies of how gene-expression profiles change in response to whole grain intake Newly identified bioactive compounds in whole grains and whole grain fractions The new EU regulations on health claims that affect whole grain food products Providing information that will be of interest to food scientists, healthcare specialists and food industry professionals alike, the second edition of Whole Grains and Health is an essential resource for anyone concerned with the impact whole grains may have upon health.
Whole Grains and their Bioactives: Composition and Health
by Taylor C. Wallace Jodee JohnsonA review of various types of whole grains, the bioactives present within them, and their health-promoting effects As rates of obesity and other chronic conditions continue to rise, so too does the need for clear and accurate information on the connections between diet and disease, particularly regarding the cereal grains that dominate the Western diet. In this volume, editors Jodee Johnson and Taylor Wallace assemble a panel of leading experts to address this issue. The result is a comprehensive examination of the cereal and pseudo-cereal grains and their most important bioactive compounds. Not only does this volume offer summaries of existing research, it also places these findings within the larger context of health promotion and disease prevention. This includes frank discussions on the limitations of existing studies, as well as current gaps in research for those who want to offer evidence-based recommendations to their patients. Topics addressed include: Methodical analyses of domesticated grain species, their horticultural history, nutritional composition, and known effects on health Beneficial properties of certain bioactive compounds found in particular grain species How bioactive compounds work within an individual’s overall diet to increase health and prevent disease Academic and industry researchers, as well as medical practitioners and public health professionals, will appreciate Whole Grains and their Bioactives, not only as an engaging overview of current research, but also as an illuminating contribution to the often-murky debate surrounding health and the human diet.
Whole Life Costing: A New Approach
by Peter CaplehornWhole life costing has been a subject waiting to come of age for many years. What was previously of mainly academic interest is now becoming a key business tool in the procurement and construction of significant projects. With the advent of PPP and in particular of PFI, details of the project life need to be assessed and tied in to funding and operation plans. Many of these projects run to millions of pounds and are of high political or social importance, so the implications of the life of materials is crucial. A fundamental requirement of these procurement routes has been that the whole enterprise should be included within the bid, so that a company takes on not only the construction but also the running and maintenance of any building. Additionally as sustainability has emerged and grown in importance, so has the need for a whole life time costing approach, partly driven by governmental insistence. At the heart of sustainability is an understanding of what the specification means for the future of the building and how it will affect the environment. Whole life costing considers part of this and provides an understanding of how materials may perform and what allowances are needed at the end of their life. This book sets out the practical issues involved in the selection of materials, their performance, and the issues that need to be taken into account. The emphasis, unlike in other publications, is not to formularise or to package the issues but to leave the reader with a clear understanding and a sensible practical way of arriving at conclusions in the future.
Whole Life Costing for Sustainable Building
by Mariana TrussonWhole life costing is now integral to building procurement, both for new buildings and major refurbishments. It is key when assessing investment scenarios for estates as well as individual buildings, and has become a tool for justifying higher capital cost items. Standard whole life costing methods combine capital cost, facilities costs, operational costs, income and disposal costs with a “single action–single benefit” approach. Costing based on this type of single attribute assessment misses out on realising value from the intricacies of the interactions buildings have with their occupants, users and the location in which they are placed. In contrast, the multi-attribute approach presented by the author of this book explains how to analyse the whole cost of a building, while also taking into account secondary and tertiary values of a variety of actions that are deemed important for the project owners and decision-making stakeholders. The process is an effective tool for presenting a good business case within the opportunities and constrains of real life. For example, it presents the interdependencies of how: Building location affects servicing strategies which impact on maintainability and control and, by extension, on occupant comfort; Material selection affects time on site, building maintainability as well as overall building quality and the environment; Building shape impacts on servicing strategies as well as operating costs. The reader will be shown how to incorporate this method of whole life valuation into standard cost models allowing for a more robust decision making process. This is done by breaking down project aims into their most basic aspects and adopting the methods of simple quantitative risk analysis, the functionality of which is based on real data. Written by an author immersed in project team collaboration to identify the interdependencies of design decisions throughout her professional life, this is the most practical guide available on the topic.
Whole System Design: An Integrated Approach to Sustainable Engineering
by Peter Stansinoupolos Michael H Smith Karlson Hargroves Cheryl DeshaWhole System Design is increasingly being seen as one of the most cost-effective ways to both increase the productivity and reduce the negative environmental impacts of an engineered system. A focus on design is critical, as the output from this stage of the project locks in most of the economic and environmental performance of the designed system throughout its life, which can span from a few years to many decades. Indeed, it is now widely acknowledged that all designers - particularly engineers, architects and industrial designers - need to be able to understand and implement a whole system design approach. This book provides a clear design methodology, based on leading efforts in the field, and is supported by worked examples that demonstrate how advances in energy, materials and water productivity can be achieved through applying an integrated approach to sustainable engineering. Chapters 1-5 outline the approach and explain how it can be implemented to enhance the established Systems Engineering framework. Chapters 6-10 demonstrate, through detailed worked examples, the application of the approach to industrial pumping systems, passenger vehicles, electronics and computer systems, temperature control of buildings, and domestic water systems. Published with The Natural Edge Project, the World Federation of Engineering Organizations, UNESCO and the Australian Government.
Whole-Wheat Bread for Human Health
by Yosef Dror Ephraim Rimon Reuben VaidaThis book examines the effect of whole-wheat bread on health, with evidence linking the consumption of whole-wheat products to a decrease in the relative risk of non-communicable diseases in comparison with products baked from refined flour. The authors focus on key areas such as milling and refining procedures, bakery products, and assessment of the present consumption of wheat products. They offer a detailed description of all available ingredients of wheat-kernel, with particular attention paid to the health benefits of wheat-kernel antioxidants and dietary fiber ingredients. Vitamins, glutathione, choline and betaine, carotenoids, sterols and stanols are covered, and the book concludes with a general overview of the effect of whole-wheat bread on colon activity and immune capacity. Methods of improving bread nutritional quality, and the potential for the upgrading of the nutritional qualities of whole-bread, are also discussed. Consumption of whole-wheat in Western societies, however, has either not increased or increased very slightly. The authors intend for this book to highlight the health benefits of whole-wheat bread and the factors that contribute to these benefits.
Who's Afraid of AI?: Fear And Promise In The Age Of Thinking Machines
by Thomas RamgeA penetrating guide to artificial intelligence: what it is, what it does, and how it will change our lives At a breathtaking pace, artificial intelligence is getting better and faster at making complex decisions. AI can already identify malignant tumors on CT scans, give legal advice, out-bluff the best poker players in the world, and, with ever-increasing skill, drive our cars. In Who’s Afraid of AI?, award-winning author Thomas Ramge expertly explains how machines are learning to learn, and he questions what today’s explosion of AI capability could mean for tomorrow: Is it ethical to allow robots—endlessly patient—to replace human caregivers in providing comfort and companionship to the elderly? Since AI feeds on big data, can we prevent its misuse by corporations or the government? Will AI ever be capable of runaway self-improvement? And if “the singularity” does arrive, with AI’s intelligence exponentially outpacing our own, what will become of us when, in many ways, we’re obsolete?
Who’s Driving Electric Cars: Understanding Consumer Adoption and Use of Plug-in Electric Cars (Lecture Notes in Mobility)
by Marcello Contestabile Gil Tal Thomas TurrentineThis book offers a comprehensive yet accessible snapshot of the latest consumer research on the adoption and use of electric vehicles. It discusses the importance of developing a better understanding of consumer behavior in relation to electric vehicles, and the advantages that can be gained from the growing number of electric vehicle users, who can now be studied directly. In turn, it systematically analyzes the leading markets for electric vehicles in North America, Europe and Asia. Bringing together the experience and expertise of authoritative researchers and practicing professionals, the book shares a wide range of empirical data obtained at the national level and summarizes the general lessons learned. The last part of the book discusses policy-relevant insights, forecasts the future evolution of the field in terms of methods and data availability, and addresses several key questions that policymakers and other stakeholders are currently facing.
Who's the Boss Now?: A flirty, sexy workplace romance (Titans of Tech #3)
by Susannah ErwinTo claim her inheritance, she has to get past her boss…if she doesn't fall for him first, in this Titans of Tech story by Susannah Erwin. She wants what&’s hers… and the boss who stands in her way. Marguerite Delacroix must regain possession of her family&’s ancestral vineyards. When she&’s caught red-handed sneaking into the winery, she comes face-to-face with the new owner—tech titan Evan Fletcher. But he doesn&’t turn her in—he gives her a job! Now she&’s waiting for her chance to turn the tables and claim her inheritance. But soon their off-the-charts chemistry threatens to throw her off track…and right into the deep end with her off-limits boss! From Harlequin Desire: Luxury, scandal, desire—welcome to the lives of the American elite. Love triumphs in this uplifting romance, part of the Titans of Tech series: Book 1: Who's the Boss Now?
Whose Green City?: Contested Urban Green Spaces and Environmental Justice in Northern Europe (Sustainable Development Goals Series)
by Bianka Plüschke-Altof Helen Sooväli-SeppingAgainst the backdrop of an accelerating global urbanization and related ecological, climatic or social challenges to urban sustainability, this book focuses on the access to “safe, inclusive and accessible green and public space” as outlined in United Nations’ Sustainable Development Goal No. 11. Looking through the lens of environmental justice and contested urban spaces, it raises the question who ultimately benefits from a green city development, and – even more importantly – who does not. While green space benefits are well-documented, green space provision is faced by multiple challenges in an era of urban neoliberalism. With their interdisciplinary and multi-method approach, the chapters in this book carefully study the different dimensions of green space access with particular focus on vulnerable groups, critically evaluate cases of procedural injustice and, in the case of Northern Europe that is often seen as forerunner of urban sustainability, provide in-depth studies on the contexts of injustices in urban greening. Chapters 1, 5, and 6 are available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Why AI?: All your questions about artificial intelligence answered by a computer scientist
by Dr Dharini BalasubramaniamAll your questions and worries about Al today - the who, what, where, when and WHY - answered by a computer scientist.It's here and it's not going away - AI is on everyone's mind, but many of us don't know what it is never mind what to think about it! Why AI? is a question-and-answer based exploration of the topic for ages 8 and up, from Dr Dharini Balasubramaniam, a computer scientist at University of St Andrews and a passionate advocate for ethics and education in her field. Dr Balasubramaniam's clear and balanced explanations put our mind at ease, while challenging readers to consider how far AI can and should go in certain areas. She introduces us to the history of the concept of machine learning, the pioneers in the field of AI and the amazing AI doing good in the world today. The book includes case studies on fascinating topics, such as search-engine AI and exciting robotics, and answers questions, such as: What did AI start?; Why do we need AI?; What can AI DO?; What should AI do?; What is the future of AI?
Why Air Forces Fail, revised and expanded edition: The Anatomy of Defeat
by Robin Higham Stephen J. HarrisSince the publication of the first edition of Why Air Forces Fail, the debate over airpower's role in military operations has only intensified. Here, eminent historians Robin Higham and Stephen J. Harris assemble a team of experts to add essential new details to their cautionary tale for current practitioners of aerial warfare. Together, the contributors examine the complex, often deep-seated, reasons for the catastrophic failures of the Russian, Polish, French, British, Italian, German, Argentine, and American air services. Complemented by reading lists and suggestions for further research, this seminal study with two new chapters provides an essential and detailed analysis of defeat.
Why Buildings Fall Down: How Structures Fail
by Matthys Levy Mario SalvadoriLevy, an architectural engineer, and Salvadori, professor emeritus of civil engineering and architecture at Columbia U., provide a fascinating account of the most important and interesting structural failures in history, and especially in the 20th century. Annotation c. by Book News, Inc., Portland, Or.