I would like to thank the following people for their hard work and dedication in making the original manuscript possible: Jeff Chen, Geoff Rideou, and Calle Wilholm provided excellent suggestions for improvement. The Associations of Danish Industry supported the initial draft; without the encouragement of Kristian Stockbro, it might never have come to life. Delphi supported a great deal of related work; many engineers at the company experimented with trade-off curves of their own, teaching me to teach them. Lee May worked long and hard to format it. And, of course, as always, the example and tutelage of dozens of people at the Toyota Motor Company provided the foundation of the work.
* These acknowledgments are from the original manuscript, and are thus Allen Ward’s. All first-person references here and in Chapters 1 through 3 are to the author, Allen Ward.