Effective communication is the key to success! This book is for anyone wishing to improve their communication skills and knowledge of the way in which communications function in organisations. * the third edition of this highly successful book has been fully revised to bring it fully up to date and incorporates latest electronic developments * covers the skills of speaking, writing, listening and effective reading * provides detailed guidance on telephoning, interviewing, meetings, speaking in public, letter and report writing, visual and non-verbal communication and the use of visual aids * contains useful sections on grammar and usage, checklists on spelling and commonly misused and confused words * activities, assignments, self-checks and exercises are included throughout.

Seldom does a physical system, particularly one as apparently simple as the flow of a Newtonian fluid between concentric rotating cylinders, retain the interest of scientists, applied mathematicians and engineers for very long. Yet, as this volume goes to press it has been nearly 70 years since G. I. Taylor's outstanding experimental and theoretical study of the linear stability of this flow was published, and a century since the first experiments were performed on rotating cylinder viscometers. Since then, the study of this system has progressed enormously, but new features of the flow patterns are still being uncovered. Interesting variations on the basic system abound. Connections with open flows are being made. More complex fluids are used in some experiments. The vigor of the research going on in this particular example of nonequilibrium systems was very apparent at the NATO Advanced Research Workshop on "Ordered and Turbulent Patterns in Taylor­ Couette Flow," held in Columbus, Ohio, USA May 22-24, 1991. A primary goal of this ARW was to bring together those interested in pattern formation in the classic Taylor­ Couette problem with those looking at variations on the basic system and with those interested in related systems, in order to better define the interesting areas for the future, the open questions, and the features common (and not common) to closed and open systems. This volume contains many of the contributions presented during the workshop.

Acknowledgements The work underlying this study was performed at the Econometric and Special Studies Department of the Nederlandsche Bank, where many contributed to it. I am indebted to all the statistical assistants of the department, especially to Anja Wouters and Rob Vet for their patient assistance in building up the data sets and analysing the survey data. Also Corina den Broeder rendered devoted and persistent research assistance with respect to the multicountry analysis during her stay at the Bank and I am grateful to Mike Clements of the Bank of England for his careful reading and commenting on that part. My collegues Peter van Els and Carlo Winder made some valuable suggestions. Liesbeth Klein and Coen Collee helped me avoid a number of errors in English, and thanks to the skilful efforts of Marietta Bakker, Gita Gajapersad and Carolien Verhoeven the text looks as it does. Above all, lowe a debt of gratitude to Martin Fase, one of the pioneers in this field of research, for his efforts and contribution to the improvement of this study. INTRODUCTION We seem to be well on the way to a cashless society. Paradoxically, however, the majority of the transactions are still paid in cash even in the most advanced economies. A second paradoxical observation is that, despite the primary and common character of currency, the economic theory on the use of and demand for cash is only rarely supported by empirical evidence.

One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter­ est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as­ sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful­ ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto­ mated reasoning, perception and control. It raises many important prob­ lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Investigations of archaeological intrasite spatial patterns have generally taken one of two directions: studies that introduced and explored methods for the analysis of archaeological spatial patterns or those that described and analyzed the for­ mation of spatial patterns in actuaiistic-ethnographic, experimental, or natu­ ral-contexts. The archaeological studies were largely quantitative in nature, concerned with the recognition and definition of patterns; the actualistic efforts were often oriented more toward interpretation, dealing with how patterns formed and what they meant. Our research group on archaeological spatial analysis at the University of Wisconsin-Madison has been working for several years on both quantitative and interpretive problems. Both lines of investigation are closely related and are important complements. In order to demonstrate the convergence of archaeological and actualistic studies for the understanding of intrasite spatial patterns, we organized a sympo­ sium at the 52nd Annual Meeting of the Society of American Archaeology in Toronto, Canada, in May 1987. The symposium, titled "The Interpretation of Stone Age Archaeological Spatial Patterns," was organized into two sessions. The six papers presented in the morning session, five of which comprise Part I of this volume, focused on ethnoarchaeological and experimental research. Michael Schiffer was the discussant for this half of the symposium. Our intention for the ethnoarchaeological contributions to the symposium and volume was the delin­ eation of some of the significant accomplishments achieved thus far by actualistic studies regarding the formation of spatial patterns.

The science associated with the development of artificial sen­ sory systems is occupied primarily with determining how information about the world can be extracted from sensory data. For example, computational vision is, for the most part, concerned with the de­ velopment of algorithms for distilling information about the world and recognition of various objects in the environ­ (e. g. localization ment) from visual images (e. g. photographs or video frames). There are often a multitude of ways in which a specific piece of informa­ tion about the world can be obtained from sensory data. A subarea of research into sensory systems has arisen which is concerned with methods for combining these various information sources. This field is known as data fusion, or sensor fusion. The literature on data fusion is extensive, indicating the intense interest in this topic, but is quite chaotic. There are no accepted approaches, save for a few special cases, and many of the best methods are ad hoc. This book represents our attempt at providing a mathematical foundation upon which data fusion algorithms can be constructed and analyzed. The methodology that we present in this text is mo­ tivated by a strong belief in the importance of constraints in sensory information processing systems. In our view, data fusion is best un­ derstood as the embedding of multiple constraints on the solution to a sensory information processing problem into the solution pro­cess.

We first discussed the possibility of organizing a symposium on helminth communities in June, 1986. At that time, we were engaged in writing a joint paper on potential structuring mechanisms in helminth communities; we disagreed on a number of issues. We felt the reason for such debate was because the discipline was in a great state of flux, with many new concepts and approaches being introduced with increasing frequency. After consider­ able discussion about the need, scope and the inevitable limitations of such a symposium, we decided that the time was ripe to bring other ecologists, engaged in similar research, face-to-face. There were many individuals from whom to choose; we selected those who were actively publishing on helminth communities or those who had expertise in areas which we felt were particularly appropriate. We compiled a list of potential participants, contacted them and received unanimous support to organize such a symposium. Our intent was to cover several broad areas, fully recognizing that breadth negates depth (at least with a publisher's limitation on the number of pages). We felt it important to consider patterns amongst different kinds of hosts because this is where we had disagreed among ourselves.

This book contains the proceedings of the 4th International Conference on Data Analysis and Processing held in Cefalu' (Palermo, ITALY) on September 23-25 1987. The aim of this Conference, now at its fourth edition, was to give a general view of the actual research in the area of methods and systems for achieving artificial vision as well as to have an up-dated information of the current activity in Europe. A number of invited speakers presented overviews of statistical classification problems and methods, non conventional archi­ tectures, mathematical morphology, robotic vision, analysis of range images in vision systems, pattern matching algorithms and astronomical data processing. Finally a survey of the discussion on the contribution of AI to Image Analysis is given. The papers presented at the Conference have been subdivided in four sections: knowledge based approaches, basic pattern recognition tools, multi features system based solutions, image analysis-applications. We must thank the IBM-Italia and the Digital Equipment Corpo­ ration for sponsoring this Conference. We feel that the days spent at Cefalu' were an important step toward the mutual exchange of scientific information within the image processing community. v. Cantoni Pavia University V. Di Gesu' Palermo University S. Levialdi Rome University v CONTENTS INVITED LECTURES . • • • • . • • • 3 Morphological Optics.

This book contains papers presented at the NATO Advanced Research Workshop on "Real-time Object and Environment Measurement and Classification" held in Hotel Villa del Mare, Maratea, Italy, August 31 - September 3, 1987. This workshop was organized under the NATO Special Programme on Sensory Systems for Robotic Control. Professor Eric Backer, Delft University of Technology, The Netherlands and Professor Erdal Panayirci, Technical University of Istanbul, Turkey were the members of the organizing committee for this workshop. There were four major themes of this workshop: Real-time Requirements, Feature Measurement, Object Representation and Recognition, and Architecture for Measurement and Classification. A total of twenty-five technical presentations were made. These talks covered a wide spectrum of topics including hardware implementation of specific vision algorithms, a complete vision system for object tracking and inspection, using three cameras (trinocular stereo) for feature measurement, neural network for object recognition, integration of CAD (Computer-Aided Design) and vision systems, and the use of pyramid architectures for solving varioos computer vision problems.