A Practical Guide to Tensegrity Design: Revision History
Back to A Practical Guide to Tensegrity Design: Cover
17  Sep  08  In Section 2.2, elaborate the footnote on Gough98. Change the XHTML version to indent the first line of paragraphs and footnotes. 
16  Sep  08  In the last sentence of Section 3.1.6, change "connector" to "vector" (XHTML only — should have been done when the PDF was changed). In the Preface, note that the discussion of vector constraints in Section 7.3 is the best claim of this book to be called "practical." 
15  Sep  08  In Section 3.1.6, add two more commas to the second sentence of the first paragraph. In Section 7.1, mention that the terminology is sometimes loose, and "force" is used to refer to the corresponding signed magnitude. Note that the trivial generalization to consider member stresses is neglected. In Section 7.2.2, be precise and note that f_{im} is a signed magnitude rather than a force. In this section of the PDF version, change three places where "stress" is used to "force" (change should have been made when XHTML was changed). 
14  Feb  08  On the Cover, note the recent review in the IASS Journal. 
26  Jan  08  In Acknowledgements, remove Motro CV link which no longer works (XHTML only). 
12  Nov  07  Cosmetic change which affects only the PDF version: tone down (shrink the font sizes and subsidiary formatting) the chapter and section headings by escaping the LaTeX default values. 
29  Jun  07  In Acknowledgements, change "Val Gómez" to "Val Gómez Jáuregui". In References, mention his book. 
05  Jun  07  In Section 5.1, correct a confusion and note that Snelson's approach the the ttripod approach are different. In Appendix A, include Snelson's truss in the comparative examination and include an illustration of his truss. Update the list of Figures accordingly. 
31  Aug  06  In Section 1.3, don't call Fuller's 1944 construction "aspension." Fuller73 doesn't call it that, it doesn't look like aspension really though perhaps it's an aspension precursor, and the aspension patent (#3,139,957) of July 7, 1964, postdates even Fuller's tensegrity patent by almost two years. Apparently the 1944 technology never got a name. Thanks to Phil Earnhardt for prompting me to look at this issue more closely. 
22  Aug  06  In Foreword and Chapter 1, mark off the blocks of foreign language using div elements with appropriate lang attributes (HTML only). 
21  Aug  06  In Section 2.2 and Section 7.2, fix validation problems, and add xml:lang attribute to html element for all XHTML files (XHTML only). In List of Figures, fix link to Figure 5.1 (HTML only). For Figures 2.2, 2.3, 2.4, 2.5, 2.6, 4.1, 5.1, 5.10, 6.11 and 6.12, develop special version of the graphic for web browsers instead of letting the browser do a lowerquality reduction from the high resolution versions. Size these to convenient proportions, and size the high resolution versions to match the proportions. Size the PDF version of these figures to yield 300 dpi resolution (one at 250 dpi) for the highresolution versions. The figure changes impact both the HTML/XHTML and the PDF versions to hopefully give a better appearance to these figures for the web offering. 
17  Aug  06  In Section 2.4, indicate from the start that the triangle radii are fixed by replacing r with rbar. Put explicit dot  ⋅  multiplication signs in trigonometric formula for the PDF version. 
15  Aug  06  In Foreword, fix quote marks around Bob (PDF only) and use "a real discovery" instead of "such a discovery". In Figures 5.6, 5.11 and 7.1, make the outer tendon layer red instead of blue to better differentiate it from the black tendons. 
10  Aug  06  Add Foreword. 
28  Jul  06  In Chapter 8, Appendix A, Appendix B and References, link in style sheet, misc fixes to get through W3C validator, use id attribute rather than name and don't use it in anchors by itself but put it somewhere else and get rid of the anchor (XHTML/MathML/HTML only). In the second file, correct "Georges David" to "David Georges". This last change affects the PDF too. On Cover, note that the XHTML/MathML/HTML pages now work (to a reasonable extent) with Amaya. 
27  Jul  06  In Section 7.1, Section 7.2 and Section 7.3, link in style sheet, misc fixes to get through W3C validator, use id attribute rather than name and don't use it in anchors by itself but put it somewhere else and get rid of the anchor (XHTML/MathML/HTML only). Validator doesn't like text in blockquote element in the second file!? 
26  Jul  06  In Section 5.3 (second try), Section 6.1, Section 6.2.1, Section 6.2.2, Section 6.2.3, Section 6.2.4, Section 6.2.5 and Section 6.2.6, link in style sheet, misc fixes to get through W3C validator, use id attribute rather than name and don't use it in anchors by itself but put it somewhere else and get rid of the anchor (XHTML/MathML/HTML only). 
25  Jul  06  In Chapter 3, Section 4.1, Section 4.2, Section 4.3, Section 5.1, Section 5.2, Section 5.3 and Section 5.4, link in style sheet, misc fixes to get through W3C validator, use id attribute rather than name and don't use it in anchors by itself but put it somewhere else and get rid of the anchor (XHTML/MathML/HTML only). 
24  Jul  06  In this file, Cover, Dedication, Preface, Acknowledgements, List of Figures, List of Tables, Table of Contents, Chapter 1, Section 2.1, Section 2.2, Section 2.3, Section 2.4 and Section 2.5, link in style sheet, misc fixes to get through W3C validator, use id attribute rather than name and don't use it in anchors by itself but put it somewhere else and get rid of the anchor (XHTML/MathML/HTML only). 
21  Jul  06  In References, make it so clicking on external links pops up a new browser window; change link to Wong thesis to conform to MIT spec. (HTML version only). Change format of citation of Val's thesis to conform to existing format used for Wong thesis 
20  Jul  06  In the Acknowledgements, mention Joe Clinton, Val Gómez, Mark Schenk and UCSD. In Section 1.3, in the long footnote on the XPiece fallout, note that there are two 1949 photos of Fuller holding a mast, and indicate which one Snelson is referring to. Add Val's thesis, Masic et al. article and a cabledome article to References. In Section 1.4, refer to Motro and Hanaor specifically when this is appropriate instead of just as "civil engineers". Note cabledomes and UCSD work. Make some minor edits to Section 1.6. In Section 2.2, say "is obtained" in the footnote rather than "obtains". In Section 2.3, describe the relationship between Figures 2.6 and 2.7. Reorganize the introductory text so it is more coherent. In Section 3.2, tone down description of my partitioning method since I don't know that it yields the best partitioning. Amplify a bit the discussion of total vs. partial pivoting in the footnote. Add missing hyphen to two instances of "conjugatedirection". In caption for Figure 6.10, hypenate "BasePoint" and "GuyAttachmentPoint". 
07  Jul  06  On the Cover, increase the fee for books I print from US$50 to US$70 and decrease my royalty from US$25 to US$15. 
05  Jul  06  In Section 7.2.6, correct typo in formula for o_{jtilde} (XHTML/MathML version only). Extensively revise the Cover to simplify it and make it more accurate, intelligible and useful. 
17  Mar  06  In the link to the VRML models on the Cover, take advantage of the new tag marking the section containing those figures. 
27  Feb  06  In References, link to copy of Fuller's 1961 "Tensegrity" article on R.W. Gray's site and Coplan's 1967 Artforum interview with Snelson on Snelson's site (XHTML version only). 
24  Feb  06  Revisions stemming from conversations with Kenneth Snelson and further tensegrity history studies. In Section 1.3: note Snelson's interest in the Russian constructivists; be more specific about Fuller's 1944 construction (aspension); after the revelation of the XPiece, until 1959, tensegrity was developed by Fuller and members of his circle which Snelson had left; translate the French word "autotendante" as "prestressed" rather than Emmerich's choice of "selftensioning"; note Snelson's more specific artistic interest in exploring structure; refer people to first footnote in Section 2.2 for discussion of Snelson's doubts about the reconstruction of Ioganson's structure rather than duplicating the discussion in two places; delete reference to Snelson's work on the atom since it actually doesn't seem that relevant to the tensegrity history discussion; note significance of 1959 MOMA exhibit in that Snelson returned to the tensegrity field. In Section 2.2: note Snelson's skepticism with regard to Gough's claim is mostly related to the credibility of the reconstruction (he actually seems to sometimes think Ioganson did come up with a tensegrity prism or similar structure); give specific patent reference for Emmerich's claim on the prism; correct my incorrect inference that the appearance of the prism in Snelson's patent implied a claim on the invention of the prism  he just cited it as prior art; use the date of Moelman's work to narrow down the probable time interval in which the prism was developed in the U.S. 
21  Dec  05  Revisions related to recent conversations with Kenneth Snelson:
In Chapter 1, footnote 8,
substitute information supplied by Snelson for earlier speculations.
In References,
delete Müller71 reference
(Müller, Grégoire, "Kenneth Snelson",
Arts Magazine,
Vol. 45, No. 7 (May, 1971), pp. 2527) and
relevant paragraph at the end of
Section 7.2.2. The excerpt stated
... in Snelson's pieces the degree of tension in the tension elements is directly proportional to the amount of space they occupy  a practical fact that he has encountered in the making of his sculptures, ...which implies a minimization of sums of second powers strategy to design. Snelson says ("Re: Snelson sculpture photos", bit.listserv.geodesic news group, December 10, 2005, two messages) that this is a misinterpretation of what he had stated in his interview. The determinants of tendon stresses in his sculptures are many and subtle. 
12  Dec  05  In the XHTML's References, update the link for the Wong thesis. 
09  Sep  05  In Appendix A, fix link to Chapter 5. 
08  Aug  05  On Cover, note existence of versions of some of the book illustrations in VRML Tensegrity Models. 
29  Jul  05  In List of Figures, add omitted word "Sphere" for Figure 6.5 (HTML only). Direct people to Tripod instead of Channel1 for revision history (PDF only). 
07  Jul  05  On Cover, change back link text from "Website Index" to "Tensegrity Solutions Home". 
27  Jun  05  Remove the footnote at the end of Section 3.1.1 and the item in the References citing Roth81 (Roth, B. and W. Whiteley, "Tensegrity Frameworks", Transactions of the American Mathematical Society, Vol. 265, No. 2, 1981, pp. 419446). Over the years, my recollection confused their axiomatic treatment with the nonlinear programming approach. There must be connections between the two. How do their findings on member forces correlate with mine? 
05  Apr  05  Reformatted the PDF version to 8.5x11 instead of A4. Converted from LaTeX 2.09 to LaTeX2e. The main things that changed were the disappearance of the \footheight parameter and the new placement of pictureenvironment figures. pdflatex seemed better integrated with LaTeX2e, and all pdflatexrelated paths could be removed from tensegenv. It was necessary to put a pdftex.map file in the local directory letting pdflatex know where to find the pfb font files. Took the last oneline paragraph out of the Acknowledgements so the PDF version can get the whole section on two pages. That paragraph read, "In the end, I have no one to blame for all this but myself." Still true, but you'll just have to read it here. 
05  Apr  05  Add an interpretive outline of the book's contents to the Preface. This somewhat parallels Section 1.6, but their different characters persuaded me to leave them both. In the XHTML version of Chapter 3, use HTML '±' symbol as operator instead of constructing it from '+' and ''. 
02  Feb  05  Reduce price and include more details in offer. 
29  Jan  05  First printing. 
27  Jan  05  Fourth proof of PDF printed. 
15  Jan  05  Minor edits throughout. 
14  Jan  05  Minor edits and clarifications throughout. 
13  Jan  05  Add Figure 6.10 and a line introducing it. 
06  Jan  05  Third proof of PDF printed. 
02  Jan  05  In XHTML version only, correct typo in proof of Section 7.2.6 (left an asterisk off of a μ). In both versions, use a complementary symbol for the second objective function. In Section 8.2.2 and Appendix B, put the reference to Lang in a footnote and mention the other labels for the Schwarz inequality. Minor edits to Section 8.2.4. 
31  Dec  04  Move some parenthetical remarks in the text to footnotes. Complete Section 8.2.4. 
30  Dec  04  Minor edits to Chapter 7. Rethink of logic and notation for proof in Section 7.2.6. Minor edits to Chapter 8, addition of text to Section 8.2.2 motivating that formula a little better and start Section 8.2.4 which will contain an example of angle computation. 
29  Dec  04  Minor edits to Chapters 4, 5 and 6. There was a bad typo in Table 6.6 in which #33's final length was stated to be 1.0 instead of its exceptional value of 1.5. 
25  Dec  04  Tweak the last set of revisions to Section 7.2.4, mainly changing references to "(in)dependent variables" to "(in)dependent coordinates". 
23  Dec  04  Expand and revise Section 3.2. The matrix of partials is now referred to as Ψ instead of A. Expansion of this section should have been on my todo list, and I may expand it further to explicitly lay out the matrix algebra of how various derivatives, gradients, etc. are computed. Coordinate and correct the partials example in Section 4.2.3 with the above changes. Coordinate the discussion of the sample calculation in Section 7.2.4 with the above changes and rephrase it so vectors of derivatives are clearly distinguished from vectors of variables or constants. Miscellaneous rephrasings in the above three sections. 
20  Dec  04  Miscellaneous rephrasings in the first three chapters. In Section 2.4, a formula had r'^2 in the denominator when it should have been just r'. The conclusions were still drawn correctly. Bars put over symbols for some of the constants. In Section 3.2, the subscripts of s in the quadratic formula of Step #3 all needed to be incremented by one. 
17  Dec  04  Incorporate results of running spelling checker (ispell). Introduce explicit version number with date. 
13  Dec  04  For Figures 5.6, 5.11 and 7.1, Lighten blue tendons so they show up better and slim down struts (secondary interlayer tendons were merging with them). Improve 600 dpi versions of Figures 7.2 and 7.3. Correct Figure 5.4. Put a bar over all the mu's and the exogenous force vectors to indicate they are fixed. Format math programming problem statement in Section 5.4 better. Correct spelling error in Section 7.2.3. In Section 7.2.5, correct subscripts in PDF version, note what mu is and add mu to the term quoted from the penalty function. In Section 7.3.2, reorder point descriptions and use "hub i" instead of "the ith hub". In Section 7.3.5, reorder and rephrase point descriptions and use "strut envelope i" instead of "the ith strut envelope". Eliminate needless u(ij) in descriptions. In Section 7.3.6, correct verb number ("represents" instead of "represent"). 
09  Dec  04  Second proof of PDF printed. 
04  Dec  04  Flip Figures 7.2 and 7.3 horizontally to restore them the way they were. (It turns out if z is used as the "up" parameter in POVRay's camera spec, it uses righthanded coordinates without explicitly setting the "right" parameter.) Add a paragraph to Section 5.1 referencing Appendix A and noting the different truss strategies. Tweak formatting of Section 1.3 twoparagraph footnote. 
03  Dec  04  Flip Figures 5.6, 5.11, 7.1, 7.2 and 7.3 horizontally to give them a righthanded coordinate system instead of POVRay's default lefthanded system. Minor edit to Section 7.3.6. Modify and extend footnote on Snelson's XPiece in Section 1.3. Minor edits to Appendix A to better give credit. 
02  Dec  04  In Section 4.2, double all derivative and objective function values and forget that stuff about dividing the objective function by 2. Correct typos in the XHTML version where a header in the length tables said "Derivative" rather than "Length". Correct description of A matrix. In Section 4.3, double the objective function value, and note that it is theoretically a tensegrity in the initial configuration, though not assemblable the conventional way since the struts intersect. Move a few words around to try to make the presentation clearer. Minor punctuation change in Chapter 3. 
01  Dec  04  Add Table 4.6. In Section 4.2.3, indicate the value of the objective function for the preliminary solution. Redo Figures 4.8 and 4.11 using righthanded coordinate system for POVRay (found out it defaults to lefthanded). Figure 4.8 also needed to be redone with the final coordinate values instead of the preliminary ones and so that the omitted tendon location is indicated. In Section 2.4, add a footnote indicating that counterclockwise obtains when the structure is being viewed from outside. 
30  Nov  04  Minor edits and clarifications to Chapters 1, 2 and 3. Retitle Chapter 1. 
29  Nov  04  On Cover, note printing fees and royalties. Add Skelton97 and Snelson81 to the references section in the PDF version where they were omitted. A few minor stylistic changes. Improve quality of raytraced renderings for Figures 2.1, 2.8, 4.8, 4.11, 5.6, 5.11, 7.1, 7.2, 7.3, A.1 and A.2. 
26  Nov  04  First proof of PDF printed. 
24  Nov  04  On Cover, note that MathML sections work with Firefox as well. 
08  Oct  04  In Section 1.1, qualify the plant example and note Donald Ingber's work. Add Ingber98 to the References. 
07  Oct  04  In Appendix A, give Snelson credit for first examining the doublelayer tensegrity truss of Figure A.2. In Sections 1.3 and 2.2, note Snelson's objection to the reconstruction in Gough98 and mention that the claim that Ioganson's sculpture was a tensegrity prism is controversial. In Section 1.3, note Snelson's description of floating compression as an alternative to the term tensegrity. These revisions stem from a personal communication with Snelson on October 6, 2004, which I initiated after reading Val Gómez Jáuregui's Master's thesis, "Tensegrity Structures and their Application to Architecture" (2004, Queen's College, Belfast, Northern Ireland). In Section 1.3, mention Lalvani96 and Wong99 as further resources on the FullerSnelson collaboration and controversy. Add Wong99 to the References. 
14  Sep  04  In Chapter 1, substitute Emmerich's French patent number 1,377,291, "Structures Linéaires Autotendants", September 28, 1964, for his French patent number 1,238,308 issued July 4, 1960. The latter just covers spaceframe joints and isn't tensegrity related although the joints could be used in a tensegrity space frame. The former covers tensegrity towers. 
03  Sep  04  Strike the last item from the todo list in the
Preface:

23  Aug  04  Continue rewriting the Acknowledgements. 
20  Aug  04  In Section 5.2, reference Cosmography rather than the Fuller letter, and discuss the polylateral concept a bit more. Add a few more links to the HTML version of the Acknowledgements and revise them a bit. 
13  Aug  04  Strike another item from the todo list in the
Preface:

12  Aug  04  Rewrite Sections 5.1, 5.2 and 5.3. Remove Figure A.2 to Figure 5.1. Adjust footnote and figure references in Section 5.4 (XML only). Minor revisions to the start of Section 4.2 to better connect it with Section 2.3. 
05  Aug  04  In Section 7.3,
redo formulae so signed magnitude of force at hub due to member always
coincides with sign for member force, get rid of the inner/outer stuff
in the notation and put a bar over ε everywhere.
Strike another item from the todo list in the
Preface:

04  Aug  04  Adjust column sectioning for tables in Section 4.2, Section 4.3, Section 5.4, Section 6.2.1, Section 6.2.2, Section 6.2.3, Section 6.2.4, Section 6.2.6, Section 7.2, Section 7.3 and Chapter 8 (XML only). Add tag for index links in Section 6.2.5 (XML only). 
03  Aug  04  Adjust column sectioning and asterisk for tables in Section 5.3 (XML only). Make Chapter 6 introductory wording a little less prophetic. Add todo item to Preface. Rewrite Chapter 3 and make corresponding changes to Acknowledgements, Section 6.2.3, Section 7.2 and Section 7.3: determinacy and connector constraints become point and vector constraints respectively, and all w's and W's get written with overline. 
29  Jul  04  At the end of Section 7.2.2, cite Müller71's observations. Put Müller71 in the References. 
27  Jul  04  Conclude Section 7.2.6 by noting that multiple solutions are possible for a given weighted model. 
26  Jul  04  Rewrite/correct the narrative of Section 8.2.3. Edit the wording at the beginning of Section 8.2 a bit. In Figure A.2, write out "TTripod" as "Tensegrity Tripod". Rephrase the necessary condition on a strut by strut basis in Section 7.3.5, and correct a typo and insert a missing sentence in the TeX version. In Section 7.2.3 use vector differences instead of writing out the column of coordinates. In Section 7.3.6, document briefly how many iterations were needed for a solution. 
23  Jul  04  Complete
Section 7.3.6.
Strike another item from the todo list in the
Preface:

22  Jul  04  Continue expansion and revision of Section 7.3.6. 
21  Jul  04  Add Figure 7.1 to List of Figures and Section 7.3.6. Correct a misspelling and thank some tensegrity practitioners in the Acknowledgements. Update to note that some illustrations now have been generated using POVRay. Don't gripe about missing books at the BPL General Library. In Section 2.2.2, add a missing factor of 2r^2 to one of the equations. In Sections 2.2.2 and 2.2.3 use barred symbols to more explicitly differentiate between variables and fixed parameter values. 
16  Jul  04  Describe metaiterations in Section 7.3.6. Update List of Tables. 
15  Jul  04  Add metric equivalents to Section 2.2 and label side and end tendons more frequently. In Section 2.2.3, use "u" instead of "a"as the label for the endtendon length. Start Section 7.3.6. In Section 3.1.4, refer to numerical example with connector constraints in Section 7.3.6. 
14  Jul  04  Add formulas for calculation of strut moment to Section 7.3.5. Change "external" to "exogenous" wherever it occurs in Section 7.3. 
09  Jul  04  Finish Section 7.3.5. Mark start of Section 7.3.6. 
02  Jul  04  Explicitly add vectors to the general statement of the mathematical programming problem in Chapter 3 and indicate how vectors are related to connector constraints. Since I'm starting to rigorously differentiate between vectors and points, in Section 7.3, don't label points as "(vector)". Continue development of Section 7.3.5. 
23  Jun  04  Add Hibbeler98 to the references and cite it in Section 7.3.5. Spell out New Jersey in bibliographical entry for Chajes83. 
22  Jun  04  Correct math typo in Section 7.2.3 (XML version only). Analyze the case of a determinacy constraint. In Sections 2.3, 4.3, 5.2, 7.2 and 7.3 be more specific instead of saying "next" or "previous" section. In Section 7.3.2, use q as a symbol instead of p to avoid confusion with point coordinates. Simplify notation for struts. Note that number of struts is half the number of hubs. Change symbol for external force. Reorder symbol declarations slightly. Just say "point" instead of "coordinates of point". In Section 7.3.3, note that the forces corresponding to the determinacy constraints also get initialized from the results of the endogenous analysis. Use more explicit references instead of "previous sections" and improve wording. Continue Section 7.3.5. 
21  Jun  04  In Chapter 3 and Section 7.2, use lowercase n rather than uppercase N for counts everywhere. Use dot product instead of general format for determinacy constraints in Section 3.1.1. Rewrite Section 3.1.6. Rewrite Sections 7.2.3, 7.2.6 and 7.3 to reflect changes to Section 3.1.1. Rewrite Section 7.3 to segue better into Section 7.3.5 and fix some notational and sign problems. 
18  Jun  04  Section 1.6 footnote: note that "node" is synonymous with "hub". Section 3.1.1: replace "Coordinate values" with list of hub points. Section 3.1.6: mention the coordinate constraint as a frequentlyused determinacy constraint. Section 7.2.3: in quoting Newton, use the word "body" instead of "node"; elsewhere, refer to "hub" rather than "node". Section 7.3: refer to "hub" rather than "node". Start Section 7.3.5. 
16  Jun  04  Section 2.2: loose > lose. Section 7.2: to > two. Add Section 2.2.4. 
14  Jun  04  Minor revisions to Figure 2.1 (eyes were oriented slightly awry). Shrink Figures 5.4 and 5.9. 
10  Jun  04  Try linking to U.S. Patent Office patent images for U.S. patent references in Chapter 1. Note other independent originators of the prism in Section 2.2. Back out of links to patents since they expire after a short time. 
08  Jun  04  Elaborate the discussion of connector constraints in
Section 3.1.4.
Revise Chapter 1 to reflect my more
recent research.
In Section 6.2.3,
mention Kenner76's
"selfsufficiency" terminology as an alternative to
Wang98's "selfsupporting" term.
Minor edits to Section 7.1.
Strike another item from the todo list in the
Preface:

26  May  04  Revise graphic for Figure 2.1.
Add note to Section 7.1 about
usefulness of force analysis to developing an assembly strategy,
and add qualification regarding detailed analysis of tensegrities.
Other minor edits.
Clarifying edits to Section 7.2.
In Section 6.2.3 note that
fixing the base points of the dome results in a structure that,
strictly speaking, is not a tensegrity. Describe BinBing Wang's
definition of tensegrity in a footnote.
In Chapter 1, note the presence of
Wang's definition. Add Wang to References.
Increment footnotes in Section 6.2.6.
Strike a few items from the todo list in the
Preface.
Either I've done them, I'm going to leave them to the
Synergetics Gallery,
or I'm going to omit them as far as 2nd edition is concerned
(I'm way behind):

20  May  04  Add note about the ‡ marker in the tables to the text explaining the external loading example. Substitute correct "ticosahedron" for "toctahedron" in the first paragraph of Section 2.4. (TeX/PDF version was OK.) In Table 4.10, the second column should be labeled "Length" rather than "Derivative". (TeX/PDF version was OK.) Flip Figure 2.1 so its sense coincides with the rest of the examples. Fix link to Figure 4.2 in Section 5.4. Add Figures 4.8, 4.11, 5.4 and 5.9 with minor edits to accompanying text to reference them. Add labels to entries in Contents so chapters can back link to their section of the list. 
12  May  04  Add Figure 2.1 and slightly revise text for Section 2.2 to refer to it. Substitute new graphics for Figure 2.8. Substitute new graphics for Figures A.1 and A.3 and eliminate text that interpreted shortcomings of the previous graphics. 
03  Mar  04  Add and/or reposition back links to revision history. 
19  Feb  04  In the Cover, note that, while Microsoft's Internet Explorer 6.0 and perhaps some earlier versions work with MathML, I haven't got the math pages here working for that browser yet. 
20  Jan  04  In the Cover refer people to the Synergetics Gallery for more tensegrity examples. 
14  Jan  04  Mention the Boston Public Library in the Acknowledgements. 
06  Jan  04  Provide a more exact reference to Ioganson's prism in footnote 1 of Section 2.2. 
31  Dec  03  Change label of the toctahedron of Section 2.3 to ticosahedron and don't state that it's the only one exhibiting mirror symmetry. Note discoverers of the simple tensegrities. Mention Pugh76 as a resource for model building information in Section 2.2. Minor edits. 
09  Dec  03  In Section 2.2.2, make Figure 2.3 and the text consistent with Figure 2.2. Correct minimize equation for final mathematical form and another nearby typo in the XHTML version. Correct Table 2.2 in the XHTML version. Thanks to Zeke Cummings for prompting me to spot these problems. Put subject in email link. 
11  Jul  03  In Chapter 3, give all constraints explicit constraint parameters. Rename iterator symbols and explicitly define ranges. In Section 7.2, synchronize notation with new notation in Chapter 3, add a second, more general, justification for the method of computing member forces. 
02  Jul  03  Add connector constraints to the general model of Chapter 3. Systematize the naming of constants and indexes a little better to avoid so much alphabet soup. 
24  Jun  03  Correct meta description tags for Chapters 5 and 6. Make sure all pages have meta description tags. Redo terminology in Chapter 7 (internal and external stress analysis become endogenous and exogenous force analysis). Correct typos. Fix minor inconsistencies in headings between the LaTeX and HTML versions. 
20  Jun  03  Redo links on Cover. 
27  May  03  Add more revision ideas to the Preface and revise its wording to indicate the plan for future releases. Reposition footnote 6 in Chapter 3 slightly. Characterize alternative to email as "Postal Service mail" on the Cover. 
23  Apr  03  Added a line about prerequisites in the Preface. Adjusted the margins of the PDF version (per suggestion by Joe Moore) and made page numbers correspond to PDF pages. 
15  Apr  03  More revisions to the Preface and Acknowledgements. 
14  Apr  03  Make PDF file of the Guide available instead of using Postscript format. Thanks to Chris Fearnley for suggesting this and pdflatex for making it feasible. PDF file now includes Preface and Acknowledgements. Minor revisions to Preface, Acknowledgements and Table of Contents. Touch up TPrism array graphic in Appendix A 
04  Apr  03  Make Zip file of the Guide in Postscript format available. Refer to LaTeX instead of TeX. 
02  Apr  03  Add sample calculation to Section 7.3. Add Preface and Acknowledgements. This completes the first internet release of the guide. 
26  Mar  03  Add Section 7.3 (except for sample calculation). Systematize References a little better and add Vilnay90 and links where known. 
25  Mar  03  Add Sections 6.2.5 and 6.2.6. Note μ penalty value everywhere and suggest better way of selecting clearance thresholds in Section 8.2.3. 
18  Mar  03  Add Section 6.2.4. Tidy up or compact scanned graphics. Minor edits. 
12  Mar  03  Revise Section 6.2.3 to use a more general technique. Plug more general numbers into Table 6.16. 
11  Mar  03  Complete Section 6.2.3. Minor edits to Section 6.2.2. 
10  Mar  03  Complete Section 6.2.2. Minor edits. 
04  Mar  03  Complete Section 6.2.1. Minor edits. 
03  Mar  03  Start Section 6.2. Minor edits. 
28  Feb  03  Add Dedication and slots for Acknowledgements and Preface in the Table of Contents. Add more keywords, correct editing gaffe and capitalize Envelope Theorem in Section 7.2. 
25  Feb  03  Add Section 7.2. 
18  Feb  03  Add Chapter 8. 
14  Feb  03  Add Section 6.1 and Section 7.1. Complete Table of Contents. Substitute chap7_1.html for chap7.xml links. 
11  Feb  03  Fill in Section 5.4. Add omitted table to Section 5.3. 
05  Feb  03  Add Section 5.3 and two figures for Section 5.4. 
30  Jan  03  Add first two sections of Chapter 5. 
29  Jan  03  Label triangles in Chapter 4 figures. 
28  Jan  03  Minor revisions to figures and text in Chapters 1 to 4. 
27  Jan  03  Fill out Appendix B. 
19  Jan  03  First release in HTML/XHTML/MathML format (first four chapters and Appendix A). Originally published using LaTeX in 1994 in spiralbound format. 