This monograph grew out of the notes relating to the lecture courses that I gave at the University of Helsinki from 1977 to 1979, at the Eidgenossische Technische Hochschule Zurich in 1980, and at the University of Minnesota in 1982. The book presumably would never have been written without Fred Gehring's continuous encouragement. Thanks to the arrangements made by Edgar Reich and David Storvick, I was able to spend the fall term of 1982 in Minneapolis and do a good part of the writing there. Back in Finland, other commitments delayed the completion of the text. At the final stages of preparing the manuscript, I was assisted first by Mika Seppala and then by Jouni Luukkainen, who both had a grant from the Academy of Finland. I am greatly indebted to them for the improvements they made in the text. I also received valuable advice and criticism from Kari Astala, Richard Fehlmann, Barbara Flinn, Fred Gehring, Pentti Jarvi, Irwin Kra, Matti Lehtinen, I1ppo Louhivaara, Bruce Palka, Kurt Strebel, Kalevi Suominen, Pekka Tukia and Kalle Virtanen. To all of them I would like to express my gratitude. Raili Pauninsalo deserves special thanks for her patience and great care in typing the manuscript. Finally, I thank the editors for accepting my text in Springer-Verlag's well­ known series. Helsinki, Finland June 1986 Olli Lehto Contents Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v Introduction ............................................... .