INTRODUCTIONThe field of variable-topology shape design in structural optimization has its origins in theoretical studies of existence of solutions in variational problems, in particular shape optimization problems, and in studies in theoretical material science of variational bounds on material properties. Progress in computational methods and the ever increasing computer power has oriented the area towards applications, with significant developments being achieved over the last decade, leading to a fairly widespread use of the methodology in industry.In this short paper we outline some of the basic ideas and methods of existing methods, but it is not our purpose to cover all work and approaches in this field. Instead we refer to existing literat ure containing rather comprehensive surveys, see e.g., [7,8,31]. Moreover, note that reference is mostly made to recent papers that include bibliographies useful for on overview of the area. Thus the presentation does not try to present a complete historie al perspective.The area of computational variable-topology shape design of continuum structures is presently dominated by methods which employ a material distribution approach for a fixed reference domain, in the spirit of the so-called 'homogenization method' for topology design ([3, 9]). That is, the geometrie representation of a structure is similar to a grey-scale rendering of an image, in discrete form corresponding to araster representation of the geometry on a fixed reference domain. The physics of the problem is also represented by boundary conditions and forcing The original version of this chapter was revised: The copyright line was incorrect. This has been corrected. The Erratum to this chapter is available at DOI: 10.1007/978-0-387-35514-6_15 2 Martin P. BendsrJe terms defined on this fixed reference domain, much in analogy to fictitious domain methods for FEM analysis.One can normally distinguish between three versions of raster based geometry models for continuum topology optimization. The basic problem is an unrestricted '0-1' integer design problem (generalized shape optimization), that is, a design specifies unambiguously whether there is solid material or void at every point in a candidate design region. Otherwise, there are no restrictions on the shape. Unfortunately, in general, this dass of problems is ill-posed in the continuum setting (cf., [11,20]). Well-posed problems can be obtained by either extending the space of admissible solutions to obtain their relaxed versions, usually by incorporating microstructure (see, e.g., [3]), or by restricting the space of admissible solutions. The latter can be accomplished by enforcing an upper bound on the perimeter of the structure (see [28], and references therein), by imposing constraints on the slopes of the parameters defining geometry (see [29], and references therein), by the introduction of a filtering function limiting the minimum scale (see [10,36] for an overview), or one can introduce a ground structure with a fixed number of design degrees of...