or two ... The first one concerns LFS: "Technical Report UCB/CSD 88/467" (Ousterhout and Douglis, "Beating the I/O Bottleneck: A Case for Log-structured File Systems") And the second one is of personal interest: Featherstone R., "Robot Dynamics Algorithms" (Kluwer Academic Publishers, Norwell,MA, 1987) -- Aleksi Suhonen