In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...

We consider in this report systems modeled by timed automata. The timing bounds involved in the action guards and location invariants of our timed automata are not constants, but parameters. Those parametric timed automata allow to model various kinds of timed systems, e.g. communication protocols or asynchronous circuits. We will also assume that we are given an initial tuple π0 of values for ...

In recent decade security systems based on biometric technologies have played an important role in our community. Fingerprint identification is one of the most important biometric approaches. The uniqueness of a fingerprint is exclusively determined by the local ridge characteristics called minutiae. The automatic fingerprint matching depends on the comparison of these minutiae and their relati...

This chapter introduces the first basic concepts of co-modelling and co-simulation, including notions of system, model and co-model, simulation and co-simulation, etc. It also describes the ways in which co-modelling and co-simulation can be integrated with established development processes such as IEEE 15288 (Systems and Software Engineering—System Life Cycle Processes, [45]) and IEEE 12207 (S...

Results from phylogenetic analysis of nuclear rDNA internal transcribed spacer (ITS) sequences from a worldwide sample of Sanicula indicate that Hawaiian sanicles (Sanicula sect. Sandwicenses) constitute a monophyletic group that descended from a western North American ancestor in Sanicula sect. Sanicoria, a paraphyletic assemblage of mostly Californian species. A monophyletic group comprising ...

Preface Designing Screening Experiments (DSE) is a class of information-theoretical models for multiple-access channels (MAC). In Sect. 2-4, we discuss the combinatorial model of DSE called a disjunct channel model. This model is the most important for applications and closely connected with the superimposed code concept. In Sect. 2, we give a detailed survey of lower and upper bounds on the ra...

Pad6 approximants are a frequently used tool for the solution of mathematical problems. One of the main drawbacks of their use for multivariate functions is the calculation of the derivatives of f ( x 1 .... ,xp). Therefore multivariate Newton-Pad6 approximants are introduced; their computation will only use the value of f at some points. In Sect. 1 we shall repeat the univariate Newton-Pad6 ap...

We describe an implementation of the Maximally Stable Extremal Region ([3], Sect. 2, MSER) feature detector and an immediate multi-dimensional generalization ([1], Sect. 2). We propose an algorithm (Sect. 3) that is essentially uniontree with path-compression and union-by-rank (see for instance [4]). However we do not use the N-tree graph of [4] as for the purpose of fitting ellipses to the MSE...