Distributed, Parallel and Biologically Inspired Systems

Mike Hinchey, Bernd Kleinjohann, Lisa Kleinjohann, Peter Lindsay, Franz J.

Rammig, Jon Timmis, Marilyn Wolf

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Mike Hinchey, Bernd Kleinjohann, Lisa Kleinjohann, Peter Lindsay, Franz J. Rammig, et al. Dis- tributed, Parallel and Biologically Inspired Systems: 7th IFIPTC 10Working Conference, DIPES 2010 and 3rd IFIP TC 10 International Conference, BICC 2010 Held as Part of WCC 2010 Brisbane, Aus- tralia, September 20-23, 2010, Proceedings. Springer, AICT-329, 2010, IFIP Advances in Information and Communication Technology, 978-3-642-15233-7. hal-01556922

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Editor-in-Chief

A. Joe Turner, Seneca, SC, USA

Editorial Board

Foundations of Computer Science

Mike Hinchey, Lero, Limerick, Ireland

Software: Theory and Practice

Bertrand Meyer, ETH Zurich, Switzerland

Education

Bernard Cornu, CNED-EIFAD, Poitiers, France

Information Technology Applications

Ronald Waxman, EDA Standards Consulting, Beachwood, OH, USA

Communication Systems

Guy Leduc, Université de Liège, Belgium

System Modeling and Optimization

Jacques Henry, Université de Bordeaux, France

Information Systems

Barbara Pernici, Politecnico di Milano, Italy

Relationship between Computers and Society

Chrisanthi Avgerou, London School of Economics, UK

Computer Systems Technology

Paolo Prinetto, Politecnico di Torino, Italy

Security and Privacy Protection in Information Processing Systems

Kai Rannenberg, Goethe University Frankfurt, Germany

Artificial Intelligence

Max A. Bramer, University of Portsmouth, UK

Human-Computer Interaction

Annelise Mark Pejtersen, Center of Cognitive Systems Engineering, Denmark

Entertainment Computing

Ryohei Nakatsu, National University of Singapore
# IFIP – The International Federation for Information Processing

IFIP was founded in 1960 under the auspices of UNESCO, following the First World Computer Congress held in Paris the previous year. An umbrella organization for societies working in information processing, IFIP's aim is two-fold: to support information processing within its member countries and to encourage technology transfer to developing nations. As its mission statement clearly states,

> IFIP's mission is to be the leading, truly international, apolitical organization which encourages and assists in the development, exploitation and application of information technology for the benefit of all people.

IFIP is a non-profitmaking organization, run almost solely by 2500 volunteers. It operates through a number of technical committees, which organize events and publications. IFIP's events range from an international congress to local seminars, but the most important are:

* The IFIP World Computer Congress, held every second year;

* Open conferences;

* Working conferences.

The flagship event is the IFIP World Computer Congress, at which both invited and contributed papers are presented. Contributed papers are rigorously refereed and the rejection rate is high.

As with the Congress, participation in the open conferences is open to all and papers may be invited or submitted. Again, submitted papers are stringently refereed.

The working conferences are structured differently. They are usually run by a working group and attendance is small and by invitation only. Their purpose is to create an atmosphere conducive to innovation and development. Refereeing is less rigorous and papers are subjected to extensive group discussion.

Publications arising from IFIP events vary. The papers presented at the IFIP World Computer Congress and at open conferences are published as conference proceedings, while the results of the working conferences are often published as collections of selected and edited papers.

Any national society whose primary activity is in information may apply to become a full member of IFIP, although full membership is restricted to one society per country. Full members are entitled to vote at the annual General Assembly, National societies preferring a less committed involvement may apply for associate or corresponding membership. Associate members enjoy the same benefits as full members, but without voting rights. Corresponding members are not represented in IFIP bodies. Affiliated membership is open to non-national societies, and individual and honorary membership schemes are also offered.
Mike Hinchey Bernd Kleinjohann

Lisa Kleinjohann Peter A. Lindsay

Franz J. Rammig Jon Timmis

Marilyn Wolf (Eds.)

Distributed, Parallel
and Biologically Inspired
Systems

7th IFIP TC 10 Working Conference, DIPES 2010 and
3rd IFIP TC 10 International Conference, BICC 2010
Held as Part of WCC 2010

Brisbane, Australia, September 20-23, 2010
Proceedings

<figure><img src="image_3.png" /></figure>

Springer
## Volume Editors

Mike Hinchey

Lero, University of Limerick, Limerick, Ireland

E-mail: mike.hinchey@lero.ie

Bernd Kleinjohann

University of Paderborn / C-Lab, Germany

E-mail: bernd@c-lab.de

Lisa Kleinjohann

University of Paderborn / C-Lab, Germany

E-mail: lisa@c-lab.de

Peter A. Lindsay

University of Queensland, St.Lucia, Australia

E-mail: p.lindsay@uq.edu.au

Franz J. Rammig

University of Paderborn, Heinz Nixdorf Institute, Germany

E-mail: franz@upb.de

Jon Timmis

University of York, Heslington, UK

E-mail: jtimmis@cs.york.ac.uk

Marilyn Wolf

Georgia Institute of Technology, Atlanta, USA

E-mail: marilyn.wolf@ece.gatech.edu

Library of Congress Control Number: 2010932430

CR Subject Classification (1998): D.2, C.2, I.2, F.3, H.4, C.3

ISSN 1868-4238

ISBN-10 3-642-15233-3 Springer Berlin Heidelberg New York

ISBN-13 978-3-642-15233-7 Springer Berlin Heidelberg New York

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law.

springer.com

© IFIP International Federation for Information Processing 2010

Printed in Germany

Typesetting: Camera-ready by author, data conversion by Scientific Publishing Services, Chennai, India

Printed on acid-free paper 06/3180
IFIP World Computer Congress 2010
(WCC 2010)

Message from the Chairs

Every two years, the International Federation for Information Processing (IFIP) hosts a major event which showcases the scientific endeavors of its over one hundred technical committees and working groups. On the occasion of IFIP's 50th anniversary, 2010 saw the 21st IFIP World Computer Congress (WCC 2010) take place in Australia for the third time, at the Brisbane Convention and Exhibition Centre, Brisbane, Queensland, September 20–23, 2010.

The congress was hosted by the Australian Computer Society, ACS. It was run as a federation of co-located conferences offered by the different IFIP technical committees, working groups and special interest groups, under the coordination of the International Program Committee.

The event was larger than ever before, consisting of 17 parallel conferences, focusing on topics ranging from artificial intelligence to entertainment computing, human choice and computers, security, networks of the future and theoretical computer science. The conference History of Computing was a valuable contribution to IFIPs 50th anniversary, as it specifically addressed IT developments during those years. The conference e-Health was organized jointly with the International Medical Informatics Association (IMIA), which evolved from IFIP Technical Committee TC-4 “Medical Informatics”.

Some of these were established conferences that run at regular intervals, e.g., annually, and some represented new, groundbreaking areas of computing. Each conference had a call for papers, an International Program Committee of experts and a thorough peer reviewing process of full papers. The congress received 642 papers for the 17 conferences, and selected 319 from those, representing an acceptance rate of 49.69% (averaged over all conferences). To support interoperation between events, conferences were grouped into 8 areas: Deliver IT, Govern IT, Learn IT, Play IT, Sustain IT, Treat IT, Trust IT, and Value IT.

This volume is one of 13 volumes associated with the 17 scientific conferences. Each volume covers a specific topic and separately or together they form a valuable record of the state of computing research in the world in 2010. Each volume was prepared for publication in the Springer IFIP Advances in Information and Communication Technology series by the conference's volume editors. The overall Publications Chair for all volumes published for this congress is Mike Hinchey.

For full details of the World Computer Congress, please refer to the webpage at http://www.ifip.org.

June 2010

Augusto Casaca, Portugal, Chair, International Program Committee

Phillip Nyssen, Australia, Co-chair, International Program Committee

Nick Tate, Australia, Chair, Organizing Committee

Mike Hinchey, Ireland, Publications Chair

Klaus Brunnstein, Germany, General Congress Chair
Preface

This volume contains the proceedings of two conferences held as part of the 21st IFIP World Computer Congress in Brisbane, Australia, 20–23 September 2010.

The first part of the book presents the proceedings of DIPES 2010, the 7th IFIP Conference on Distributed and Parallel Embedded Systems. The conference, introduced in a separate preface by the Chairs, covers a range of topics from specification and design of embedded systems through to dependability and fault tolerance.

The second part of the book contains the proceedings of BICC 2010, the 3rd IFIP Conference on Biologically-Inspired Collaborative Computing. The conference is concerned with emerging techniques from research areas such as organic computing, autonomic computing and self-adaptive systems, where inspiraton for techniques derives from exhibited behaviour in nature and biology. Such techniques require the use of research developed by the DIPES community in supporting collaboration over multiple systems.

We hope that the combination of the two proceedings will add value for the reader and advance our related work.

July 2010

Mike Hinchey

Bernd Kleinjohann

Lisa Kleinjohann

Peter Lindsay

Franz J. Rammig

Jon Timmis

Marilyn Wolf
# Organization

## 7th IFIP TC 10 Working Conference on
Distributed and Parallel Embedded Systems
(DIPES 2010)

### General Chair

Marilyn Wolf Georgia Institute of Technology, USA

### Program Chair

Bernd Kleinjohann University of Paderborn/C-LAB, Germany

### Organizing Chair

Lisa Kleinjohann University of Paderborn/C-LAB, Germany

### Program Committee

<table><tr><td>Jean Arlat</td><td>LAAS-CNRS Toulouse, France</td></tr><tr><td>Christophe Bobda</td><td>University of Kaiserslautern, Germany</td></tr><tr><td>Arndt Bode</td><td>Technical University of Munich, Germany</td></tr><tr><td>Joao M. P. Cardoso</td><td>University of Porto, FEUP, Portugal</td></tr><tr><td>Luigi Carro</td><td>UFRGS, Brazil</td></tr><tr><td>Matjac Colnaric</td><td>University of Maribor, Slovenia</td></tr><tr><td>Tom Conte</td><td>Georgia Institute of Technology, USA</td></tr><tr><td>Alfons Crespo Lorente</td><td>TU Valencia, Spain</td></tr><tr><td>Nikil Dutt</td><td>UC Irvine, USA</td></tr><tr><td>Petru Eles</td><td>Linkoeping University, Sweden</td></tr><tr><td>Rolf Ernst</td><td>TU Braunschweig, Germany</td></tr><tr><td>Bernhard Eschermann</td><td>ABB Switzerland Ltd., Switzerland</td></tr><tr><td>Joao Fernandes</td><td>University of Minho, Portugal</td></tr><tr><td>Uwe Glässer</td><td>Simon Fraser University, Canada</td></tr><tr><td>Luis Gomes</td><td>University of Nova Lisboa, Portugal</td></tr><tr><td>Wolfgang Halang</td><td>Fernuniversität Hagen, Germany</td></tr><tr><td>Uwe Honekamp</td><td>Vector Informatik GmbH, Germany</td></tr><tr><td>Pao-Ann Hsiung</td><td>National Chung Chen University, Taiwan</td></tr><tr><td>Kane Kim</td><td>UC Irvine, USA</td></tr><tr><td>Raimund Kirner</td><td>TU Vienna, Austria</td></tr><tr><td>Bernd Kleinjohann</td><td>University of Paderborn/C-LAB, Germany</td></tr><tr><td>Lisa Kleinjohann</td><td>University of Paderborn/C-LAB, Germany</td></tr></table>
X Organization

<table><tr><td>Hermann Kopetz</td><td>TU Wien, Austria</td></tr><tr><td>Johan Lilius</td><td>TUCS, Finland</td></tr><tr><td>Ricardo J. Machado</td><td>University of Minho, Portugal</td></tr><tr><td>Erik Maehle</td><td>University of Luebeck, Germany</td></tr><tr><td>Baerbel Mertsching</td><td>University of Paderborn, Germany</td></tr><tr><td>Vincent Mooney</td><td>Georgia Institute of Technology, USA</td></tr><tr><td>Carlos E. Pereira</td><td>UFRGS, Brazil</td></tr><tr><td>Luis Pinho</td><td>ISEP-IPP, Porto, Portugal</td></tr><tr><td>Peter Puschner</td><td>TU Vienna, Austria</td></tr><tr><td>Franz J. Rammig</td><td>University of Paderborn, Germany</td></tr><tr><td>Achim Rettberg</td><td>University of Oldenburg, Germany</td></tr><tr><td>Bernhard Rinner</td><td>Klagenfurt University, Austria</td></tr><tr><td>Luis-Miguel Santana Ormeno</td><td>ST Microelectronics, France</td></tr><tr><td>Henrique Santos</td><td>University of Minho, Portugal</td></tr><tr><td>Klaus Schneider</td><td>University of Kaiserslautern, Germany</td></tr><tr><td>Joaquin Sitte</td><td>Queensland University of Technology, Brisbane, Australia</td></tr><tr><td>Edwin Sha</td><td>University of Texas at Dallas, USA</td></tr><tr><td>Zili Shao</td><td>The Hong Kong Polytechnic University, Hong Kong</td></tr><tr><td>Joachim Stroop</td><td>dSPACE, Germany</td></tr><tr><td>Francois Terrier</td><td>CEA/Saclay, France</td></tr><tr><td>Lothar Thiele</td><td>TH Zurich, Switzerland</td></tr><tr><td>Flavio R. Wagner</td><td>UFRGS, Brazil</td></tr><tr><td>Klaus Waldschmidt</td><td>University of Frankfurt, Germany</td></tr><tr><td>Marilyn Wolf</td><td>Georgia Institute of Technology, USA</td></tr><tr><td>Dieter Wuttke</td><td>TU Ilmenau, Germany</td></tr><tr><td>Alex Yakovlev</td><td>University of Newcastle, UK</td></tr><tr><td>Laurence T. Yang</td><td>St. Francis Xavier University, Canada</td></tr></table>

Organizing Committee

<table><tr><td>Lisa Kleinjohann</td><td>University of Paderborn/C-LAB, Germany</td></tr><tr><td>Claudius Stern</td><td>University of Paderborn/C-LAB, Germany</td></tr></table>

Co-Organizing Institutions

IFIP TC10, WG 10.2, WG 10.5
3rd IFIP TC 10 International Conference on
Biologically-Inspired Collaborative Computing
(BICC 2010)

Program Committee

<table><tr><td>Hussein Abbas</td><td>University of New South Wales, Australia</td></tr><tr><td>Sven Brueckner</td><td>New Vectors LLC, USA</td></tr><tr><td>Yuan-Shun Dai</td><td>University of Tennessee at Knoxville, USA</td></tr><tr><td>Marco Dorigo</td><td>IRIDIA, Université Libre de Bruxelles, Belgium</td></tr><tr><td>Luca Maria Gambardella</td><td>IDSIA, Switzerland</td></tr><tr><td>Jadwiga Indulska</td><td>University of Queensland, Australia</td></tr><tr><td>Thomas Jansen</td><td>University College Cork, Ireland</td></tr><tr><td>Tiziana Margaria</td><td>University of Potsdam, Germany</td></tr><tr><td>Eliane Martins</td><td>UNICAMP, Brazil</td></tr><tr><td>Roy A. Maxion</td><td>Carnegie Mellon University, USA</td></tr><tr><td>Christian Müller-Schloer</td><td>Universität Hannover, Germany</td></tr><tr><td>Takashi Nanya, RCAST</td><td>University of Tokyo, Japan</td></tr><tr><td>Bernhard Nebel</td><td>Albert-Ludwigs-Universität Freiburg, Germany</td></tr><tr><td>Giuseppe Nicosia</td><td>University of Catania, Italy</td></tr><tr><td>Anastasia Pagnoni</td><td>Università degli Studi di Milano, Italy</td></tr><tr><td>Jochen Pfalzgraf</td><td>Universität Salzburg, Austria</td></tr><tr><td>Daniel Polani</td><td>University of Hertfordshire, UK</td></tr><tr><td>Ricardo Reis</td><td>Univ. Federal do Rio Grande do Sul, Brazil</td></tr><tr><td>Richard D. Schlichting</td><td>AT&T Labs, USA</td></tr><tr><td>Hartmut Schmeck</td><td>KIT, Germany</td></tr><tr><td>Bernhard Sendhoff</td><td>Honda Research Institute, Germany</td></tr><tr><td>Giovanna Di Marzo Serugendo</td><td>Birkbeck University of London, UK</td></tr><tr><td>Joaquin Sitte</td><td>Queensland University of Technology, Australia</td></tr><tr><td>Roy Sterritt</td><td>University of Ulster, Northern Ireland</td></tr><tr><td>Janet Wiles</td><td>University of Queensland, Australia</td></tr></table>
# Table of Contents

## Distributed and Parallel Embedded Systems (DIPES 2010) .................................................................................. 1

Preface .................................................................................. 3
*Marilyn Wolf, Bernd Kleinjohann, and Lisa Kleinjohann*

## Opening and Keynote

Safety, Efficiency and Autonomy - Mastering Conflicting Trends in Embedded Systems Design .................................................. 5
*Rolf Ernst*

## Specification and Modeling

Rialto 2.0: A Language for Heterogeneous Computations ........................ 7
*Johan Lilius, Andreas Dahlin, and Lionel Morel*

Scenario-Based Modeling in Industrial Information Systems .................... 19
*Ricardo J. Machado, João M. Fernandes, João P. Barros, and Luís Gomes*

An Entirely Model-Based Framework for Hardware Design and Simulation .................................................................................. 31
*Safouan Taha, Ansgar Radermacher, and Sébastien Gérard*

Extending the Standard Execution Model of UML for Real-Time Systems .................................................................................. 43
*Abderraouf Benyahia, Arnaud Cuccuru, Safouan Taha, François Terrier, Frédéric Boulanger, and Sébastien Gérard*

## Fault Tolerance

Task Migration for Fault-Tolerant FlexRay Networks ................................ 55
*Kay Klobedanz, Gilles B. Defo, Henning Zabel, Wolfgang Mueller, and Yuan Zhi*

Flexible and Dynamic Replication Control for Interdependent Distributed Real-Time Embedded Systems .................................... 66
*Luís Nogueira, Luís Miguel Pinho, and Jorge Coelho*
## Verification and Validation

Generation of Executable Testbenches from Natural Language Requirement Specifications for Embedded Real-Time Systems 78
Wolfgang Mueller, Alexander Bol, Alexander Krupp, and Ola Lundkvist

Model Checking of Concurrent Algorithms: From Java to C 90
Cyrille Artho, Masami Hagiya, Watcharin Leungwattanakit, Yoshinori Tanabe, and Mitsuharu Yamamoto

Integrate Online Model Checking into Distributed Reconfigurable System on Chip with Adaptable OS Services 102
Sufyan Samara, Yuhong Zhao, and Franz J. Rammig

Efficient Mutation-Analysis Coverage for Constrained Random Verification 114
Tao Xie, Wolfgang Mueller, and Florian Letombe

## Code-Generation, Simulation and Timing Analysis

Generating VHDL Source Code from UML Models of Embedded Systems 125
Tomás G. Moreira, Marco A. Wehrmeister, Carlos E. Pereira, Jean-François Pétin, and Eric Levrat

RACE: A Rapid, Architectural Simulation and Synthesis Framework for Embedded Processors 137
Roshan Ragel, Angelo Ambrose, Jorgen Peddersen, and Sri Parameswaran

A Mixed Level Simulation Environment for Stepwise RTOS Software Refinement 145
Markus Becker, Henning Zabel, and Wolfgang Mueller

Global Best-Case Response Time for Improving the Worst-Case Response Times in Distributed Real-Time Systems 157
Steffen Kollmann, Victor Pollex, and Frank Slomka

## Distributed Architectures and Design Support

Dependency-Driven Distribution of Synchronous Programs 169
Daniel Baudisch, Jens Brandt, and Klaus Schneider

Distributed Resource-Aware Scheduling for Multi-core Architectures with SystemC 181
Philipp A. Hartmann, Kim Grüttner, Achim Rettberg, and Ina Podolski
Robust Partitioned Scheduling for Real-Time Multiprocessor Systems .................................................... 193
Frédéric Fauberteau, Serge Midonnet, and Laurent George

An Infrastructure for Flexible Runtime Reconfigurable Multi-microcontroller Systems .................................... 205
Claudius Stern, Philipp Adelt, Matthias Schmitz, Lisa Kleinjohann, and Bernd Kleinjohann

Biologically-Inspired Collaborative Computing (BICC 2010) .................................................... 217

Preface .................................................................................. 219
Peter Lindsay, Franz J. Rammig, Mike Hinchey, and Jon Timmis

Ants and Adaptive Systems

Model Checking the Ant Colony Optimisation ............................ 221
Lucio Mauro Duarte, Luciana Foss, Flávio Rech Wagner, and
Tales Heimfarth

Feature Selection for Classification Using an Ant System Approach..... 233
Nadia Abd-Alsabour

Novelty-Aware Attack Recognition – Intrusion Detection with Organic Computing Techniques ............................................ 242
Dominik Fisch, Ferdinand Kastl, and Bernhard Sick

Evolutionary-Computation Based Risk Assessment of Aircraft Landing Sequencing Algorithms ............................................ 254
Wenjing Zhao, Jiangjun Tang, Sameer Alam, Axel Bender, and
Hussein A. Abbass

Learning Classifier Systems and Collaborative Systems

A Collaborative Decision Support Model for Marine Safety and Security Operations .................................................... 266
Uwe Glässer, Piper Jackson, Ali Khalili Araghi, Hans Wehn, and
Hamed Yaghoubi Shahir

Combining Software and Hardware LCS for Lightweight On-Chip Learning ........................................................................ 278
Andreas Bernauer, Johannes Zeppenfeld, Oliver Bringmann,
Andreas Herkersdorf, and Wolfgang Rosenstiel

Collaborating and Learning Predators on a Pursuit Scenario............ 290
Nugroho Fredivianus, Urban Richter, and Hartmut Schmeck
<table><tr><td>SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking</td><td>302</td></tr><tr><td colspan="2">Bojan Jakimovski, Michael Kotke, Martin Hörenz, and Erik Maehle</td></tr></table>

<table><tr><td>Author Index</td><td>315</td></tr></table>
Distributed and Parallel Embedded Systems
(DIPES 2010)

Edited by

Bernd Kleinjohann
Universität Paderborn / C-LAB
Germany

Lisa Kleinjohann
Universität Paderborn / C-LAB
Germany

Marilyn Wolf
Georgia Institute of Technology
USA
Preface

IFIP Working Group 10.2 was pleased to sponsor DIPES 2010, the IFIP Confer-
ence on Distributed and Parallel Embedded Systems. The conference was held
in Brisbane, Australia during September 20-22, 2010 as part of the IFIP World
Computer Conference.

Already when establishing this conference series in 1998, the idea of distribu-
tion, where the control task is carried out by a number of controllers distributed
over the entire system and connected by some interconnect network, was empha-
sized in its title. This idea naturally leads to the recent research field of cyber
physical systems where embedded systems are no longer seen as “closed boxes”
that do not expose the computing capability to the outside. Instead networked
embedded systems interact with physical processes in a feedback loop leading
to ever more “intelligent” applications with increased adaptability, autonomy,
efficiency, functionality, reliability, safety, and usability. Examples like collision
avoidance, nano-tolerance manufacturing, autonomous systems for search and
rescue, zero-net energy buildings, assistive technologies and ubiquitous health-
care cover a wide range of domains influencing nearly all parts of our lives.

Hence, the design of distributed embedded systems interacting with physical
processes is becoming ever more challenging and more than ever needs the in-
terdisciplinary research of designers and researches from industry and academia.
DIPES provides an excellent forum for discussing recent research activities and
results.

DIPES 2010 received 37 submissions: 30 from Europe, 4 from South Amer-
ica, 2 from Asia/Australia, and 1 from Africa. From these submissions, the Pro-
gram Committee accepted 18 papers for presentation at the conference. The
contributions present advanced design methods for distributed embedded sys-
tems, starting from specification and modelling over verification and validation
to scheduling, partitioning and code generation, also targeting specific architec-
tures such as upcoming multi-core systems or reconfigurable systems.

We would like to thank all authors for their submitted papers and the Pro-
gram Committee for their careful reviews. Our thanks also go to Rolf Ernst for
his inspiring keynote speech on mastering the conflicting trends safety, efficiency
and autonomy in embedded systems design. We gratefully acknowledge the su-
perb organization of this event by the WCC Committee. Furthermore, we also
thank our colleague Claudius Stern for his valuable support in preparing the
camera-ready material for this book.

Marilyn Wolf
Bernd Kleinjohann
Lisa Kleinjohann