The present book is based on a course developed as partofthe large NSF-funded GatewayCoalitionInitiativeinEngineeringEducationwhichincludedCaseWest ern Reserve University, Columbia University, Cooper Union, Drexel University, Florida International University, New Jersey Institute ofTechnology, Ohio State University, University ofPennsylvania, Polytechnic University, and Universityof South Carolina. The Coalition aimed to restructure the engineering curriculum by incorporating the latest technological innovations and tried to attract more and betterstudents to engineering and science....