This book would not have been possible without the help of many people. We are particularly grateful to Joan Ang, Gaurav Pokharel, Amir Ostadi, and Ivanna Ramnath for their careful review and meticulous editing of each book chapter; John Chen, Kenan Habib, and Azadeh Zandieh, who drew most of the figures; and Soheil Fard, Reza Zarringhalam, and Ayyoub Rezaeian, who prepared the examples and problems. We also thank John Wiley & Sons, Ltd. for providing the opportunity, encouragement, and support throughout this book project.