M.S. (1963) University of Wisconsin
A new look at the Airy equation with fences and funnels (with John H. Hubbard, Jean Marie McDill and Ann Noonburg) Organic Mathematics (Burnaby, BC, 1995), 277–303, CMS Conf. Proc. 20, Amer. Math. Soc., Providence, RI, 1997.
Differential Equations: a Dynamical Systems Approach (with John H. Hubbard); Part I: Ordinary Differential Equations, Texts in Applied Mathematics 5, Springer-Verlag, New York, 1991, xx+348 pp; Part II: Higher-Dimensional Systems, Texts in Applied Mathematics 18, Springer-Verlag, New York, 1995, xiv+601 pp.
Technology in differential equations courses: my experiences, student reactions, Revolutions in Differential Equations, 79–89, MAA Notes 50, Math. Assoc. America, Washington, DC, 1999.
The convergence of an Euler approximation of an initial value problem is not always obvious (with John Hubbard and Samer S. Habre), American Mathematical Monthly, April 2001, pp. 326–335.