This wiki technical page supported Professor Martin Fischer's VDC course and is modified as lessons are learned and lab/class-based experiences are validated on the Merced99 experiment, please feel free to provide a peer review of this page (email granite@stanford.edu for a username and password). As a 'living draft' understand that the expectation for spelling, grammar, and style are relaxed as well as the peer review process is incomplete. The technical knowledge contained on this page is critical to the implementation of Virtual Design and Construction; please feel free to reuse and share this knowledge, please cite as:
“CIFE Wiki Technical Report: Integrated Virtual Design and Construction (VDC) System.” CIFE wiki. Stanford University Center for Integrated Facility Engineering. Last accessed dd month yyyy. http://cife.stanford.edu/wiki/doku.php?id=cee241:software
*you must be logged-in to view these graphics, similar graphics are published in the references listed at the bottom of this page.
This first graphic provides an overview of the information flows, process sequence, software tools and Product-Organization-Process (POP) concepts.

A general overview of the information flow in the integrated Building Information Model (BIM) system.

A detailed graphic of exactly how this information is exchanged. This graphic was intended to be a draft that would change but due to changing priorities has only one additional iteration, that contains significant errors. In the CEE241 lab one we covered the top three software tools, Revit, Primavera, Navisworks and the bottom production library RSMeans. In lab two we used the remaining software tools.

Link to powerpoint slide representing integrated system: scope-time-cost
We use some of the Project management software listed below in the CEE 241 Managing Fabrication and Construction course. Download the software. Then, contact customer support and make a support request (good to have an open request made prior to actually needing it), ensure the software functions properly on your machine and familiarize yourself with the graphical user interface. You need a working knowledge of these tools. Prior to each class phase, the TA will provide a tutorial session to review the software tools. Everything you need to build a VDC workstation (except direct funds) is on this page.
This page does not provide a complete representation of VDC software tools, the CIFE iRoom software tool page has a spreadsheet of the specific tools installed on each lab machine (out of date now).
These software tools, or their equivalent in successive quarters, should be installed on all the CIFE iRoom lab machines. The TA should request (don't take no) a BETA version from each vendor when the CEE241 class starts in the Autumn and provide feedback throughout the course to the vendor. Provide the installation file and license to Marc mramsey@stanford.edu for the lab machine clone. A relationship and collaboration with vendors is important so that CIFE maintains a presence. We then can ensure the vendors have a complete solution. Most of the following software application tools were successfully tested with Win7 x64.
| 3D Model | |
|---|---|
| Revit Architectural | x64 available, this is the standard BIM software tool that is most commonly associated with building industry virtual design and construction. Some applications to the civil industry have been investigated and a dedicated tool for the civil industry should eventually be available. |
| Tekla | http://www.tekla.com/choosecountry/Pages/Default.aspx |
| Autodesk Civil 3D | Highway corridor parametric modeling application http://usa.autodesk.com/civil-3d/, the 2011+ releases in x64 work best with minimum 8GB RAM, a dedicated graphics card, processor core speed of 2.3Ghz or better, and external cooling, laptop or desktop. See OpenGL (workstation) over Direct3D (gaming), autocad uses direct3D, settings http://petekelsey.typepad.com/the_dirt/2008/04/3dconfig-settin.html |
| Autodesk ACAD | Now a legacy software, this is useful 1) to interface with application that cannot interface in Civil 3D, such as Tocoman ilink, and 2) allows modifications to the 3D model with architecture modeling tools to represent things like falsework and forms. |
| Bentley MicroStation | http://www.bentley.com/en-US/Products/MicroStation/ |
| Quantity Takeoff | |
|---|---|
| QTO TR 2001 | https://tsc.wes.army.mil/Cost_Estimating_01-026/Final_Report.pdf |
| Tocoman ilink | Tocoman ilink license keys and passwords are in Tocoman_Credentials_Student.txt located in the AFS/CEE241/data2/Tocoman folder. To use ACAD ilink you need a copy of AutoCAD Architecture 2009 x32 - plain AutoCAD or x64 does not work - the oldest CAD version on the Autodesk download site is 2010, a copy of 2009 ACAD x32 is in the CEE241 data folder. |
| Autodesk QTO | install files are on the CIFE server http://forums.autodesk.com/t5/AutoCAD-Civil-3D/Quantity-Takeoff-v3-0-243-0/m-p/2981234/highlight/false#M149836 |
| Innovaya | http://www.innovaya.com/ |
| AgTek | a common tool in heavy civil www.agtek.com/ |
| OST | a common tool in buildings www.oncenter.com/products/ost/ |
| CivilPM | this application from HarmonySoft looked like it was the 3rd party answer to C3D but their web domain name is now up for sale, http://harmonysoft.com.vn/wordpress/?tag=civil3d-plugin |
| 4D Modeling | |
|---|---|
| Navisworks Manage | x64 A 4D software with clash detection function, you must install Revit before Navisworks or the export option will not be available. |
| Common Point (Bentley) | |
| IFC Engine Viewer | http://www.ifcbrowser.com/ |
| Scheduling | |
|---|---|
| Oracle Primavera Project Manager P6 | P6 v7.0 tested Win7 x64. The license file, license_Stanford_lab_80cu, is in the AFS Primavera folder. |
| Vico Control | A location-based line of balance scheduling tool with production and crew resource driven durations |
| Microsoft Project | 2003 (*.mpp), 2007 (*.mpx) & 2010. Note that Vico Control and Primavera P6.1/P5.0 import and export .mpx files. Navisworks imports .mpx files. This can be a means to exchange information if necessary. We otherwise do not use this software as part of the course. Scitor provides an *.mpp (2003) to *.mpx (2007) converter http://scitor-corporation.software.informer.com/, discussion forum |
| Estimating | |
|---|---|
| Sage Timberline | XP x32 upto 9.6, Win7 x64 from 9.7 on. Available on the AFS server: licenses available from CIFE license server (server license doggle must be plugged in / granite@stanford.edu has a doggle and the server doggle, Professor Fischer has a doggle key). Check out a commuter license using the License Manager utility single server: 171.67.80.88 |
| HCSS HeavyBid | Win7 x64 tested. A bottom-up detailed estimating software used in the heavy construction industry |
| US Cost | The estimating software used by the US Navy http://www.uscost.com/ and is integrated Revit with a quantity takeoff function |
| Excel Cost Models | http://cost.jsc.nasa.gov/models.htm |
| Middleware | |
|---|---|
| Tocoman | Tocoman Express2 and the Timberline, Excel, & Vico Control add-on and passwords are in Tocoman_Credentials_Student.txt located in the Tocoman folder. |
| Form-z | This is a cool software that works as a middleware (also has a 4D function), it imports and exports many formats, can scale in z, y, x in inequal scales, nice for preprocessing 2D highway plans that have a different horizontal and vertical scale. http://www.formz.com/, no CIFE license but cost is not prohibitive |
| Autodesk ACAD | Now a legacy software, this is useful to interface with application that cannot interface in Civil 3D, such as Tocoman ilink and to import/export various file formats |
| Excel | |
| File Format: these are not middleware but helps to move data around, if stuck try changing the file extension to one of these and see if it opens | |
|---|---|
| *.csv | typical rows and columns with commas between columns and each row is a row; import to excel, write or find a parser on sourceForge |
| *.xml | typical hierarchical with indents representing inheritance of properties; import to excel, write or find a parser on sourceForge |
| *.txt | try opening any file in notepad and see if you can read anything (if an open source exe file you will see the program code) if yes then consider importing into excel (often tab delineated) save as a csv and then import the file using the csv import that most software applications have |
| Specific Integrated Project Planning Software Configuration | |
|---|---|
| Innovaya | http://www.innovaya.com/ |
| Vico Office | The combined scope, time, cost, 4D Vico product |
| Vico 5D | The legacy combined scope, time, cost, 4D Vico product consisting of, as reviewed by cadalyst in 2008 , six components: (1) Vico Constructor 2008, to create VC models as the foundation for the other tools; (2) Vico Estimator 2008, for model-based estimating, more accurately than other methods; (3) Vico Control 2008, for location-based scheduling and linking time and space in new views; (4) Vico 5D Presenter 2008, to see model (3D), schedule (4D), and cost (5D) in one view; (5) Vico Cost Manager 2008, to monitor and control changes to a project's cost; (6) Vico Change Manager 2008, to track revisions for consistency across all representations |
| Building Explorer | http://www.buildingexplorer.com/ |
| Synchro | Win7 x64 tested, http://www.synchroltd.com/ |
| BIM Server | http://www.bimserver.org/ |
| Open IFC | http://www.openifctools.com/Open_IFC_Tools/Home.html |
| Central Server Space | |
|---|---|
| AFS site | Stanford Server - http://www.stanford.edu/services/afs/, should already be installed as part of Stanford system log-in. If problems logging on try mapping network drive to the path. |
| Dropbox | Dropbox is a way to store, sync, and, share files online. Essentially places a web-based mounted drive in your documents folder. A good way to collaborate with non-Stanford, i.e., without AFS access. |
| SugarSync | Similar to Dropbox; except - as found by Amir - it lets you sync ANY folder on your computer, not just the drop box folder, you can access it on your phone, you can archive stuff on web. so for example you can upload stuff on the web and then delete them from your computer to free up space, and it will retain the stuff on the web for you, and if you upload music and video etc on the web, you can stream them live on your phone or computer so you can basically have all your library with you all the time |
| ftp | File Transfer Protocol, common for corporate servers and integrates with Micorsoft Internet Explorer as a mounted drive. If corporate IT is not skilled then the ftp connection can be very slow, to the point it almost can be said to not work, but not quite. |
| Buzzsaw | Autodesk file transfer software. Only works with >IE6 Free 30day trial http://usa.autodesk.com/adsk/servlet/pc/index?siteID=123112&id=2407898 |
| Presentation | |
|---|---|
| Adobe PDF writer | Adobe PDF writer helps with printing schedule/estimating reports for electronic submission, CIFE has two licenses. An Adobe pro trial version is available. |
| CamStudio | This screen recording tool allows presentation video of the integrated project plan. http://camstudio.org/, http://sourceforge.net/projects/camstudio/ |
| Project Independent Database | |
|---|---|
| RSMeans | This is one of the most commonly used sources of cost, crew, and production for class projects, free 30day license https://www.meanscostworks.com/securedsite/login.aspx |
| Timberline database | Available on the AFS server. CIFE has many of the available specialized databases including the Commercial Knowledgebase with assemblies. |
| American Society of Professional Estimators | This webpage has links to publicly available cost indices http://www.aspenational.org/Standards_CostDataIndices.aspx |
| Software Source | |
|---|---|
| Oracle | The e-delivery site contains all the Oracle software tools; a password is required (2/2011) to download, you need a customer number or order number and CSI number from the CIFE TA |
| Autodesk Software | 3D, 4D, and QTO software available free for download and install from the Autodesk Student site, provides an 18 month license |
| Vico Software | Download the Vico Software student version 60 day trial from http://www.vicosoftware.com/Downloads/Student_Version/tabid/50483/Default.aspx then register your copy for a license. New versions typically release in December, if requested they will often provide a BETA version in September |
| Microsoft Software | Software and licenses are available electroinically, nice when you realize you need software at 2AM, https://www.dreamspark.com/default.aspx |
| Stanford Book Store | The software is not available electronically and you must either pay in person or by phone. From 8AM to 5PM you can order online, phone in the payment and have the software delivered to CIFE, https://www.stanford.edu/group/bookstore/SUprices/softwarecart.html |
| Stanford Licensing | http://e5.onthehub.com/WebStore/Welcome.aspx?ws=88485ab9-4fa4-dd11-a337-0030485a6b08&vsro=8&JSEnabled=1 |
| Stanford EE | Software is free and available online, registration process is a bit clumsy but once setup this is the best site for downloads, http://msdn04.e-academy.com/elms/Storefront/Home.aspx?campus=stanford_ee register here first http://msdn.stanford.edu/ |
| Stanford Software Search | http://www.stanford.edu/dept/its/cgi-bin/services/software/portal/ |
| SourceForge opensource | opensource said it all, http://sourceforge.net/ |
| Microsoft | not a source of software itself but after you reconfigure the hardware setup and change harddrives your OS license will probably have exceeded the allowed number of installs. This is where you get licenses reset http://www.microsoft.com/oas |
| Open | not a source of software itself but a good list of software http://www.tweakhound.com/blog/?page_id=1185 |
| Object Enablers | |
|---|---|
| AutoCAD | http://usa.autodesk.com/adsk/servlet/index?siteID=123112&id=2753223&linkID=9240618 |
| HydraCAD | http://www.hydracad.com/ |
| Map-software | http://www.map-software.com/index.php?option=com_content&view=article&id=9&Itemid=5 Select: CADmep+ & CADduct Object Enabler |
| AutoCAD Civil 3D | Do a web search for current enabler |
| AutoCAD v2010 | Do a web search for current enabler. ACAD 2010 and after uses a different format that ACAD 2009 and earlier. ACAD2010 is backward compatible with ACAD2009 files but the ACAD 2010 file is not backward compatible with ACAD2009. A simple test with mass elements crated in 2010 and opened in 2009 with the object enabler installed (did not seem to make a difference) resulted in an unusable for quantities takeoff (proxy) 2010 object. The alternative was to save the ACAD 2010 file as an ACAD only file but this exploded the mass element back into a 2D object. |
| Standards for Interoperability & Guidelines | |
|---|---|
| BuildingSMART | The Model Support Group (MSG) is a dedicated group inside buildingSMART International that is responsible for the development and maintenance of its technical standards, the IFC specification and related specifications. http://www.iai-tech.org/projects/ifc_extension_projects/current/pm4 |
| InPro opensource | http://www.inpro-project.eu/publications.asp |
| Standard Ontological Breakdown Structures [1] | |
|---|---|
| OARPlan | One of the earlier research ontologies, adds object to action and resource, http://cife.stanford.edu/online.publications/TR002.pdf |
| CMM-CARS | An advancement of OAR with the addition of sequence and change from the term object to component, http://www.stanford.edu/group/CIFE/online.publications/WP041.pdf |
| FOAR | Departs from OAR with the addition of features, http://cife.stanford.edu/online.publications/WP071.pdf |
| CMM-Spaces | The addition of location to OAR, this is a distinctive transformation in the ontology representation to this date http://www.stanford.edu/group/CIFE/online.publications/WP057.pdf |
| AROW | The addition of workzones and change in sequence from OAR to ARO http://cife.stanford.edu/online.publications/WP109.pdf |
| DoD | DoD said it all, this is considered a standard, MIL-HDBK-881A |
| DoE | Some helpful details about ontology, https://www.directives.doe.gov/directives/current-directives/430. |
| AACE 20R-98 2003 | A review of pragmatically used ontology, www.aacei.org/technical/rps/20r-98.pdf |
| CESMM | An early format that has been used in the UK for many years, http://www.icevirtuallibrary.com/docserver/fulltext/cesmm3.15616.fm.pdf |
| CSI MasterFormat | The commonly used format in North America for specificationsMasterFormat, CSI Masterformat |
| Uniformat | The other commonly used format for estimating building projects, this is an assemblies or systems format NIST IR 6389 |
| OmniClass | A thoughtful format from Georgia Tech. http://www.omniclass.org/ |
| R. Clough, G. Sears & S. Sears | The large projects standard, Civil Construction Work Breakdown Structure |
| Civil CICS | An early suggested civil ontology that relfects changes actually made to CSI masterformat in 2004, http://dx.doi.org/10.1061/(ASCE)0733-9364(1998)124:5(381) |
| buildingSMART IFD | If you are interested in ontologies then you should start here, http://www.ifd-library.org/index.php?title=Main_Page |
| e-cognos | “The European Construction Technology Platform (ECTP) will raise the sector to a higher worldbeating level of performance and competitiveness” http://e-cognos.cstb.fr/ |
| More | There are many more specific WBS and ontological product, process, and cost formats available, often specific to industry, country, and language, there are also general formats,Upper ontology (information science), and for materials the Stock-keeping unit |
| Boot manager: second HD, external drives, and virtual machine control | |
|---|---|
| Ubuntu | http://ubuntuforums.org/archive/index.php/t-430121.html http://forum.notebookreview.com/msi/534574-gx740-optical-bay-hard-drive-issue.html |
| Plop | http://www.plop.at/en/bootmanager.html |
| Hardware Drivers | |
|---|---|
| Hoops3D | Graphics Cards Compatibility Tests tables detail the results for a given video card, operating system, driver version, and HOOPS version for test with DirectX 9 (DX9) and OpenGl (OGL) http://developer.hoops3d.com/hoops/graphicssupport/graphicscards.html |
| NVIDIA | http://www.laptopvideo2go.com/ |
| Microsoft | Windows Virtual PC helpful to allow a broader integrated system selection of 64 and 32-bit software |
| IT Service | |
|---|---|
| advice | Before you start a VDC project for coursework or professionally, place a service request with each software vendor and with a service provider. The chances are you will need support form at least one and the turn-around time from request to response can be a couple weeks. Also, budget for several hours (typical rates) of support and several hardware component changes to tune for your specific application. |
| Stanford Bookstore | http://www.stanford.edu/group/bookstore/repairs.html Monday through Friday from 9 a.m. until 5:30 p.m. , x338 |
| Central Computers | http://www.centralcomputers.com/corp/pages/services.html Locations in Sunnyvale, Santa Clara, San Francisco, Newark 1-888-880-CENT (2368) |
| Geek Squad | http://www.geeksquad.com/ for minor issues with computing and hardware - everyone in the CEE241 course should have about the baseline computing and hardware knowledge for their own computer as a geeksquad agent |
| Stanford University | http://www.stanford.edu/services/contract-support/ |
| Stanford Tech Commons | https://techcommons.stanford.edu/ |
| VDC History | |
|---|---|
| Some VDC software origins | http://books.google.com/books?id=mAiLU-38PjcC&lpg=PA166&ots=MUTIOtgk-p&dq=what%20year%20was%20Primavera%20P3%20developed&pg=PA173#v=onepage&q&f=false |
| Replacement for Displacement: Performance Settings | |
|---|---|
| Civil 3D 2011 | http://youtu.be/aXZkj4TeNY0 |
For a review of available software tools and the degree of industry use, the annual CFMA IT survey is a good resource, http://www.cfma.org/it_survey.
Be aware of these issues, if you find anything, add it to the list, please include the date and software version (use help menu in software to see the exact version). Every year issues disappear, new issues appear, and old ones reappear - if new contact the vendor for support - feedback from the vendor is usually “we never tested that specific scenario, thank you for finding this, we will fix it in the next release, for now here is a patch or workaround.”
See Min, Henning, and Rene
AFS is server space provided by Stanford University. A benefit of the AFS is the ability to edit files without downloading to your local machine.
Note: Do not provide write privileges to the AFS folders holding executable files. The write privileges must be constrained to a select group of users who understand the significance and relevance of virus security procedures. See Marc Ramsey (mramsey@stanford.edu) for this knowledge.
Install the Open AFS Client and the Kerberos authentication service on your machine.\
Once installed you can access the the folders by:
What hardware setups work with the integrated project planning tools used in this course? Please share setups that work for you, particularly those using Mac and lower-end systems. Even the high end systems do not work without VDC specific modifications.
Empirically, we [the TAs] found that the integrated software applications are particular to the hardware & OS setup; here are a few guidelines:
The following are examples of laptop and desktop vendors, these are not endorsements and the index has not been pragmatically validated though it seems logically valid. The examples are given here to show a comparison analysis example and a start in your search for a vendor; the example values are as of March 2011. Check reviews and call to speak with several vendors to get a 'feel' for how responsive they are before making a purchase. If you are making a purchase through an institution and will use a Purchase Order (PO) be aware that some of the lower indexed vendors are accustomed to taking direct credit payment from an individual and will be confused by the PO, same with your PO issuing department with the smaller vendor's accountant, so allow a couple weeks to get through this learning process as they swap invoices and POs until they match or get the PO in advance. The plus is that these vendors provide essentially 'open source' hardware and are an alternative to the well known but also potentially 'locked-up' hardware from Dell, HP, Lenovo, Apple, and Sony. The flexibility to specify the machine components and an open BIOS is important to adapt to a wider range of integrated VDC solutions with less IT support expense. You will notice that most of these are directed at gamers, they focus on this market but are usually knowledgeable and have a smaller market to 3D modeling workstations; maybe the same machine just without the glass windows, neon lights, glow in the dark cables, and tomb raider graphics, unless you really like these.
| Laptop & Tower Supplier | Stars1 | Reviews | Index2 | Location | Notes |
|---|---|---|---|---|---|
| http://www.magicmicro.com/ | 7.5 | 80 | 0.11 | Ohio | purchased machine 3/8/2011, negotiated Stanford University to MagicMicro purchase order communication circle, delivered 4/15/2011; tested on MER99 experiment; after long tuning process - works very well 7/26/2011 |
| http://www.outletpc.com/ | 9.0 | 850 | 1.38 | ||
| http://www.pcdirectsource.com/ | 10 | 25 | 0.05 | ||
| http://www.barebonespckits.com/ | |||||
| http://www.pugetsystems.com/ | 9.9 | 921 | 1.65 | ||
| http://www.ibuypower.com/ | 9.2 | 1542 | 2.56 | ||
| http://www.falcon-nw.com/ | 10 | 40 | 0.07 | ||
| http://www.xoticpc.com/ | 9.8 | 306 | 0.54 | ||
| http://zareason.com/ | |||||
| | you will have to put the subcomponents together and test yourself - service has declined drastically in past couple years | ||||
| http://www.tigerdirect.com | you will have to put the subcomponents together and test yourself | ||||
| http://www.microcenter.com | you will have to put the subcomponents together and test yourself | ||||
| http://monoprice.com/ | network, cables, adapters | ||||
| http://www.xicomputer.com | 5 | 30 | 0.03 | ||
| http://www.sagernotebook.com | 5 | 44 | 0.04 | Cali | standard in laptops |
| http://notebooks.avadirect.com/Notebooks | 9.5 | 728 | 1.26 | Ohio | |
| http://www.clevo.com.tw / | |||||
| http://www.originpc.com/eon11-s-gaming-laptop-features.asp | |||||
| http://www.equuscs.com | |||||
| http://www.boxxtech.com/products/goBOXX/goboxx_overview.asp | |||||
| http://www.alibaba.com/trade/search/3i1p5tyfchms/netbook.html |
| External graphics card | Stars1 | Reviews | Index2 | Notes |
|---|---|---|---|---|
| http://www.boxxtech.com/products/renderPRO/pro_overview.asp | ||||
| http://www.magma.com/products.asp | ||||
| http://www.villagetronic.com/vidock/ | 1 | 1 | 1 | Bought vidock4+ 2/2011 and testing on MER99 experiment with FX5600 card; test dv2120us machine so far incompatible with this specific vidock |
| http://www.matrox.com | ||||
| http://www.hwtools.net/Adapter/PE4H.html | ||||
| Knowledge | Notes | |||
| http://www.notebookcheck.net | ||||
| Comparison of Nvidia graphics processing units | Wikipedia pages like this one are helpful | |||
| http://www.tomshardware.com/ | ||||
| http://www.overclock.net | ||||
| http://www.xtremesystems.org/forums/forum.php | ||||
| http://www.anandtech.com | ||||
| http://www.primatelabs.ca/geekbench/ | ||||
| http://www.guru3d.com/ | ||||
| Civil 3D settings http://youtu.be/SSjHoDwYOkc | ||||
| Civil 3D hardware http://youtu.be/O3BZI2gyeh8 | ||||
| http://www.theswamp.org/index.php | ||||
| Technical Blogs | Notes | |||
| http://www.eng-tips.com/ | ||||
| http://www.civil3d.com | ||||
| http://forums.autodesk.com/ | ||||
| http://www.cadalyst.com/hardware-software-reviews |
1: Stars are out of 10
2: Index equation [(stars/maxStar) * (#reviews/Ave#reviews)]; average # of reviews is 550
[1] Obonyo, E., ”Towards Agent-augmented Ontologies for Educational VDC Applications,” Journal of Information Technology in Construction (ITCon), Vol 15, June 2010.
Peterson, F., Fischer, M., and Tutti, T. “Integrated Scope-Schedule-Cost Model System for Civil Works”, K. Belloni, J. Kojima, I. Seppä (Editors), “VTT Symposium 258: CIB 1st International Conference on Improving Construction and Use Through Integrated Design Solutions (IDS)”, Julkaisija - Utgivare, Helsinki, Finland, pp 176 – 199, 2009. ISBN 978-951-38-6341-8
Peterson, F., Fischer, M., Seppänen, O., Tutti, T., See, R., and Wingate, T. “Teaching Integrated Scope-Cost Methods with Model-based Tools”, A. Dikbas, E. Ergen, H. Giritli (Editors), “Proceedings of the 26th International Conference on Managing IT in Construction / Managing Construction for Tomorrow”, 2010 Taylor and Francis Group, London, UK, pp 63 – 73, 2009. ISBN 978-0-415-56744-2