Although security is prevalent in PCs, wireless communications and other systems today, it is expected to become increasingly important and widespread in many embedded devices. For some time, typical embedded system designers have been dealing with tremendous challenges in performance, power, price and reliability. However now they must additionally deal with definition of security requirements, security design and implementation. Given the limited number of security engineers in the market, large background of cryptography with which these standards are based upon, and difficulty of ensuring the implementation will also be secure from attacks, security design remains a challenge. This book provides the foundations for understanding embedded security design, outlining various aspects of security in devices ranging from typical wireless devices such as PDAs through to contactless smartcards to satellites.

3D CAD is one of the most important technologies of the 90s for the engineering and manufacturing world. 3D CAD systems can provide a competitive edge in the development of new products. This book presents the development of a three-dimensional CAD system and its wide range of applications. It describes the concepts of solid models, and the theory of curves and surfaces and it illustrates these concepts through "reals world" applications.

This volume presents the proceedings of the 7th International Confer ence of the Computer Graphics Society, CG International '89, held at the University of Leeds, UK, June 27-30, 1989. Since 1982 this confer ence has continued to attract high-quality research papers in all aspects of computer graphics and its applications. Originally the conference was held in Japan (1982-1987), but in 1988 was held in Geneva, Switzerland. Future conferences are planned for Singapore in 1990, USA in 1991, Japan in 1992, and Canada in 1993. Recent developments in computer graphics have concentrated on the following: greater sophistication of image generation techniques; advances in hardware and emphasis on the exploitation of parallelism, integration of robotics and AI techniques for animation, greater integ ration of CAD and CAM in CIM, use of powerful computer graphics techniques to represent complex physical processes (visualization), advances in computational geometry and in the representation and modelling of complex physical and mathematical objects, and improved tools and methods for HC . These trends and advances are reflected in this present volume. A number of papers deal with important research aspects in many of these areas."

Powerful new technology has been made available to researchers by an increasingly competitive workstation market. Papers from Canada, Japan, Italy, Germany, and the U.S., to name a few of the countries represented in this volume, discuss how workstations are used in experiments and what impact this new technology will have on experiments. As usual for IFIP workshops, the emphasis in this volume is on the formulation of strategies for future research, the determination of new market areas, and the identification of new areas for workstation research. This is the first volume of a book series reporting the work of IFIP WG 5.10. The mission of this IFIP work- ing group is to promote, develop and encourage advancement of the field of computer graphics as a basic tool, as an enabling technology and as an important part of various application areas.

This book arises from experience the authors have gained from years of work as industry practitioners in the field of Electronic System Level design (ESL). At the heart of all things related to Electronic Design Automation (EDA), the core issue is one of models: what are the models used for, what should the models contain, and how should they be written and distributed. Issues such as interoperability and tool transportability become central factors that may decide which ones are successful and those that cannot get sufficient traction in the industry to survive. Through a set of real examples taken from recent industry experience, this book will distill the state of the art in terms of System-Level Design models and provide practical guidance to readers that can be put into use. This book is an invaluable tool that will aid readers in their own designs, reduce risk in development projects, expand the scope of design projects, and improve developmental processes and project planning.

Microtechnologies and their corresponding CAD tools have meanwhile reached alevel of sophistication that requires the application of theoretical means on all modelling levels of design and analysis. Also, there is a growing need for a scientific approach in modelling again. Many concepts provided by Systems Theory again turn out to be of major importance. This is especially valid for the design of "machines with intelligent behaviour." When dealing with complex systems, the engineering design has to be supported by CAD tools. Consequently, the methods of Systems Theory must also get computerized. The newly established field of "Computer Aided Systems Theory" (CAST) is a first effort in this direction. The goal of CAST research and development isto provide "Systems Theory Method Banks" which can be used in education and to provide a platform for the migration of CAST methods into existing CAD tools. This book, basing on different research and development projects in CAST, is written for engineers who are interested in using and developing CAST systems, particularly in thefield of Information and Systems Engineering.

Dr. Lester A. Gerhardt Professor and Chairman Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute Troy, New York 12180 This book is a collection of papers on the subject of Robotics and Artificial Intelligence. Most of the papers contained herein were presented as part of the program of the NATO Advanced Study Institute held in June 1983 at Castel vecchio Pascoli, Italy on the same subject. Attendance at this two week Institute was by invitation only, drawing people internationally representing industry, government and the academic community worldwide. Many of the people in attendance, as well as those presenting papers, are recognized leaders in the field. In addition to the formal paper presentations, there were several informal work shops. These included a workshop on sensing, a workshop on educational methodology in the subject area, as examples. This book is an outgrowth and direct result of that Institute and includes the papers presented as well as a few others which were stimulated by that meeting. A special note is the paper entitled "State-of-the-Art and Predictions for Artificial Intelligence and Robotics" by Dr. R. Nagel which appears in the Introduction and Overview chapter of this book. This paper was originally developed as part of a study for the United States Army performed by the National Research Council of the National Academy of Science and published as part of a report entitled "Applications of Robotics and Artificial Intelligence to Reduce Risk and Improve Effectiveness" by National Academy Press in 1983."

Research on real-time Java technology has been prolific over the past decade, leading to a large number of corresponding hardware and software solutions, and frameworks for distributed and embedded real-time Java systems. This book is aimed primarily at researchers in real-time embedded systems, particularly those who wish to understand the current state of the art in using Java in this domain. Much of the work in real-time distributed, embedded and real-time Java has focused on the Real-time Specification for Java (RTSJ) as the underlying base technology, and consequently many of the Chapters in this book address issues with, or solve problems using, this framework.Describes innovative techniques in: scheduling, memory management, quality of service and communication systems supporting real-time Java applications;Includes coverage of multiprocessor embedded systems and parallel programming;Discusses state-of-the-art resource management for embedded systems, including Java's real-time garbage collection and parallel collectors;Considers hardware support for the execution of Java programs including how programs can interact with functional accelerators;Includes coverage of Safety Critical Java for development of safety critical embedded systems."

As the cost of developing new semiconductor technology at ever higher bit/gate densities continues to grow, the value of using accurate TCAD simu lation tools for design and development becomes more and more of a necessity to compete in today's business. The ability to tradeoff wafer starts in an advanced piloting facility for simulation analysis and optimization utilizing a "virtual fab" S/W tool set is a clear economical asset for any semiconductor development company. Consequently, development of more sophisticated, accurate, physics-based, and easy-to-use device and process modeling tools will receive continuing attention over the coming years. The cost of maintaining and paying for one's own internal modeling tool development effort, however, has caused many semiconductor development companies to consider replacing some or all of their internal tool development effort with the purchase of vendor modeling tools. While some (noteably larger) companies have insisted on maintaining their own internal modeling tool development organization, others have elected to depend totally on the tools offered by the TCAD vendors and have consequently reduced their mod eling staffs to a bare minimal support function. Others are seeking to combine the best of their internally developed tool suite with "robust," "proven" tools provided by the vendors, hoping to achieve a certain synergy as well as savings through this approach. In the following sections we describe IBM's internally developed suite of TCAD modeling tools and show several applications of the use of these tools."

Change is one of the most significant parameters in our society. Designers are amongst the primary change agents for any society. As a consequence design is an important research topic in engineering and architecture and related disciplines, since design is not only a means of change but is also one of the keystones to economic competitiveness and the fundamental precursor to manufacturing. The development of computational models founded on the artificial intelligence paradigm has provided an impetus for much of current design research -both computational and cognitive. These forms of design research have only been carried out in the last decade or so and in the temporal sense they are still immature. Notwithstanding this immaturity, noticeable advances have been made both in extending our understanding of design and in developing tools based on that understanding. Whilst many researchers in the field of artificial intelligence in design utilise ideas about how humans design as one source of concepts there is normally no attempt to model human designers. Rather the results of the research presented in this volume demonstrate approaches to increasing our understanding of design as a process.

4 lation and optimization. These are essential constituents of the iterative process, leading to a feasible and, one hopes, optimal design. 1.3 Content of the Book In Chapter 2 we present briefly the history of CAD. The main components of CAD systems are identified, and their principal functions described. Economi cal and interdisciplinary aspects are discussed. Chapter 3 starts with a systems analysis of the design process. The notion of a process is introduced as a fundamental tool to describe activities like design as a whole, computer-aided design, program executions, terminal sessions etc. The environment and the resources which the environment must supply for the successful execution of any process are discussed. The problem of modelling the design objects in an abstract schema and the interrelation between the schema and the planning of the individual step in the design are analysed. Chapter 4 concentrates on the interfaces among the components of a CAD system, including the human operator. The problem of mapping an abstract schema onto the capabilities of various programming, command, or data de scription languages is described in detail. Emphasis is laid upon the resource aspect and its influence on the design of CAD systems. The concept of a CAD software machine is introduced, and rules for designing such machines are given.

The NATO Advanced Research Workshop on Signal Processing and Pattern Recognition in Nondestructive Evaluation (NOE) of Materials was held August 19-22, 1987 at the Manoir St-Castin, Lac Beauport, Quebec, Canada. Modern signal processing, pattern recognition and artificial intelligence have been playing an increasingly important role in improving nondestructive evaluation and testing techniques. The cross fertilization of the two major areas can lead to major advances in NOE as well as presenting a new research area in signal processing. With this in mind, the Workshop provided a good review of progress and comparison of potential techniques, as well as constructive discussions and suggestions for effective use of modern signal processing to improve flaw detection, classification and prediction, as well as material characterization. This Proceedings volume includes most presentations given at the Workshop. This publication, like the meeting itself, is unique in the sense that it provides extensive interactions among the interrelated areas of NOE. The book starts with research advances on inverse problems and then covers different aspects of digital waveform processing in NOE and eddy current signal analysis. These are followed by four papers of pattern recognition and AI in NOE, and five papers of image processing and reconstruction in NOE. The last two papers deal with parameter estimation problems. Though the list of papers is not extensive, as the field of NOE signal processing is very new, the book has an excellent collection of both tutorial and research papers in this exciting new field.

In a society in which the use of information technology is becoming commonplace it is natural that pictures and images produced by elec tronic means should be increasing in importance as a means of com munication. Computer graphics have only recently come to the atten tion of the general public, mainly through animated drawings, advertise ments and video games. The quality of the pictures is often such that, unless informed of the fact, people are unaware that they are created with the help of computers. Some simulations, those developed in con nection with the space shuttle for example, represent a great and rapid progress. In industry, computer graphic techniques are used not only for the presentation of business data, but also in design and manufacture processes. Such computer-assisted systems are collectively represented by the acronym CAX. In CAD/CAM (computer-assisted design/manufacture), interactive graphic techniques have attained considerable importance. In CAD/CAM systems a dialogue can be established between the user and the machine using a variety of easy to operate communication devices. Due to the recent developments in hardware and software (for modelling, visual display, etc), a designer is now able to make decisions based on the information presented (plans, perspective drawings, graphics, etc) with the help of interactive, graphic techniques. These constitute the most visible and perhaps most spectacular aspect of CAD/CAM systems."

This book contains the edited version of lectures and selected papers presented at the NATO ADVANCED STUDY INSTITUTE ON COMPUTER AIDED OPTIMAL DESIGN: Structural and Mechanical Systems, held in Tr6ia, Portugal, 29th June to 11th July 1986, and organized by CEMUL -Center of Mechanics and Materials of the Technical University of Lisbon. The Institute was attended by 120 participants from 21 countries, including leading scientists and engineers from universities, research institutions and industry, and Ph.D. students. Some participants presented invited and contributed papers during the Institute and almost all participated actively in discussions on scientific aspects during the Institute. The Advanced Study Institute provided a forum for interaction among eminent scientists and engineers from different schools of thought and young reseachers. The Institute addressed the foundations and current state of the art of essential techniques related to computer aided optimal design of structural and mechanical systems, namely: Vari ational and Finite Element Methods in Optimal Design, Numerical Optimization Techniques, Design Sensitivity Analysis, Shape Optimal Design, Adaptive Finite Element Methods in Shape Optimization, CAD Technology, Software Development Techniques, Integrated Computer Aided Design and Knowledge Based Systems. Special topics of growing importance were also pre sented."

The variational approach, including the direct methods and finite elements, is one of the main tools of engineering analysis. However, it is difficult to appreciate not only for seniors but for graduate students too. It is possible to make this subject easier to understand with the help of symbolic manipulation codes (SMC). The easiness with which these codes provide analytical results allow for a student or researcher to focus on the ideas rather than on calculational difficulties. The very process of programming with SMC encourages appreciation of the qualitative aspects of investigations. Saving time and effort, they enable undergraduates to deal with the subjects generally regarded as graduate courses. There is a habitual aspect too. These days it is more convenient for a student (researcher) to work with a keyboard than with a pencil. Moreover, semantic features of the codes may allow for generalizations of the standard techniques, which would be impossible to achieve without the computer's help.

The purpose of computer vision is to make computers capable of understanding environments from visual information. Computer vision has been an interesting theme in the field of artificial intelligence. It involves a variety of intelligent information processing: both pattern processing for extraction of meaningful symbols from visual information and symbol processing for determining what the symbols represent. The term "3D computer vision" is used if visual information has to be interpreted as three-dimensional scenes. 3D computer vision is more challenging because objects are seen from limited directions and some objects are occluded by others. In 1980, the author wrote a book "Computer Vision" in Japanese to introduce an interesting new approach to visual information processing developed so far. Since then computer vision has made remarkable progress: various rangefinders have become available, new methods have been developed to obtain 3D informa tion, knowledge representation frameworks have been proposed, geometric models which were developed in CAD/CAM have been used for computer vision, and so on. The progress in computer vision technology has made it possible to understand more complex 3 D scenes. There is an increasing demand for 3D computer vision. In factories, for example, automatic assembly and inspection can be realized with fewer con straints than conventional ones which employ two-dimensional computer vision."

This fourth volume of Advances in Computer Graphics gathers together a selection of the tutorials presented at the EUROGRAPHICS annual conference in Nice, France, Septem ber 1988. The six contributions cover various disciplines in Computer Graphics, giving either an in-depth view of a specific topic or an updated overview of a large area. Chapter 1, Object-oriented Computer Graphics, introduces the concepts of object ori ented programming and shows how they can be applied in different fields of Computer Graphics, such as modelling, animation and user interface design. Finally, it provides an extensive bibliography for those who want to know more about this fast growing subject. Chapter 2, Projective Geometry and Computer Graphics, is a detailed presentation of the mathematics of projective geometry, which serves as the mathematical background for all graphic packages, including GKS, GKS-3D and PRIGS. This useful paper gives in a single document information formerly scattered throughout the literature and can be used as a reference for those who have to implement graphics and CAD systems. Chapter 3, GKS-3D and PHIGS: Theory and Practice, describes both standards for 3D graphics, and shows how each of them is better adapted in different typical applications. It provides answers to those who have to choose a basic 3D graphics library for their developments, or to people who have to define their future policy for graphics.

Recent developments in computer graphics have largely involved the following: Integration of computer graphics and image analysis through computer data structure; integration of CAD/CAM as computer-integrated manufacturing (CIM) through the design and simulation of manufacturing processes using computer graphics; progress in basic research on the modeling of complex and mathematical graphic objects, such as computational geometry, graphic data bases, hierarchical windows, and texture; use of computer graphics as an improved human interface to present information visually and multidimensionally; and advancement of industrial technology and computer art based on developments in the areas listed above. These trends are strongly reflected in the contents of the present volume either as papers dealing with one particular aspect of research or as multifaceted studies involving several different areas. The proceedings comprise thirty selected, previously unpublished original papers presented in nine chapters.

Software Diversity is one of the fault-tolerance means to achieve dependable systems. In this volume, some experimental systems as well as real-life applications of software diversity are presented. The history, the current state-of-the-art and future perspectives are given. Although this technique is used quite successfully in industrial applications, further research is necessary to solve some open questions. We hope to report on new results and applications in another volume of this series within some years. Acknowledgements The idea of the workshop was put forward by the chairpersons of IFIP WG lOA, J. -c. Laprie, J. F. Meyer and Y. Tohma, in January 1986, and the edi tor of this volume was asked to organize the workshop. This volume was edited with the assistance of the editors of the series, A. AviZienis, H. Kopetz and J. -C. Laprie, who also had the function of reviewers. Karlsruhe, October 1987 U. Voges, Editor Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1. Introduction U. Voges 2. Railway Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 ERICSSON Safety System for Railway Control . . . . . . . . . . . . . . . . . . 11 G. Hagelin 3. Nuclear Applications . . . . . . . . . . . . . . . . . . . . . . 23 Use of Diversity in Experimental Reactor Safety Systems . 29 U. Voges The PODS Diversity Experiment . 51 P. G. Bishop 4. Flight Applications . . . . . . . . . . . . . . . . . . . . . . . . . 85 AIRBUS and ATR System Architecture and Specification. . 95 P. Traverse 5. University Research . . . . . . . . . . . . . . . . . . . 105 Tolerating Software Design Faults in a Command and Control System . . . . . . . . . . . . . . . . . . . . . . 109 T. Anderson, P. A. Barrett, D. N. Halliwell, M. R. Moulding DEDIX 87 - A Supervisory System for Design Diversity Experiments at UCLA . . . . . . . . . . . . . . . . . ."

A systematic computer-aided approach provides a versatile setting for the control engineer to overcome the complications of controller design for highly nonlinear systems. Computer-aided Nonlinear Control System Design provides such an approach based on the use of describing functions. The text deals with a large class of nonlinear systems without restrictions on the system order, the number of inputs and/or outputs or the number, type or arrangement of nonlinear terms. The strongly software-oriented methods detailed facilitate fulfillment of tight performance requirements and help the designer to think in purely nonlinear terms, avoiding the expedient of linearization which can impose substantial and unrealistic model limitations and drive up the cost of the final product. Design procedures are presented in a step-by-step algorithmic format each step being a functional unit with outputs that drive the other steps. This procedure may be easily implemented on a digital computer with example problems from mechatronic and aerospace design being used to demonstrate the techniques discussed. The author's commercial MATLAB (R)-based environment, available separately from insert URL here, can be used to create simulations showing the results of using the computer-aided control system design ideas characterized in the text. Academic researchers and graduate students studying nonlinear control systems and control engineers dealing with nonlinear plant, particularly mechatronic or aerospace systems will find Computer-aided Nonlinear Control System Design to be of great practical assistance adding to their toolbox of techniques for dealing with system nonlinearities. A basic knowledge of calculus, nonlinear analysis and software engineering will enable the reader to get the best from this book.

Computer graphics as a whole is an area making very fast progress and it is not easy for anyone, including experts, to keep abreast of the frontiers of its various basic and application fields. By issuing over 100 thousand calls for papers through various journals and magazines as weil as by inviting reputed specialists, and by selecting high quality papers which present the state of the art in computer graphics out of many papers thus received, this book "Frontiers in Computer Graphics" has been compiled to present the substance of progress in this field. This volume serves also as the final version of the Proceedings of Computer Graphics Tokyo '84, Tokyo, Japan, April 24-27, 1984 which, as a whole, attracted 16 thousand participants from all over the world; about two thousand to the conference and the remaining 14 thousand to the exhibition. This book covers the following eight major frontiers of computer graphics in 29 papers: 1. geometry modelling, 2. graphie languages, 3. visualization techniques, 4. human factors, 5. interactive graphics design, 6. CAD/CAM, 7. graphie displays and peripherals, and 8. graphics standardization. Geometry modelling is most essential in displaying any objects in computer graphics. It determines the basic capabilities of computer graphics systems such as whether the surface and the inside of the object can be displayed and also how efficiently graphical processing can be done in terms of processing time and memory space.

This volume constitutes the thoroughly refereed post-conference proceedings of the 7th International Conference on Curves and Surfaces, held in Avignon, in June 2010. The conference had the overall theme: "Representation and Approximation of Curves and Surfaces and Applications." The 39 revised full papers presented together with 9 invited talks were carefully reviewed and selected from 114 talks presented at the conference. The topics addressed by the papers range from mathematical foundations to practical implementation on modern graphics processing units and address a wide area of topics such as computer-aided geometric design, computer graphics and visualisation, computational geometry and topology, geometry processing, image and signal processing, interpolation and smoothing, scattered data processing and learning theory and subdivision, wavelets and multi-resolution methods.

Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer gra phics, computer animation, database management systems, and compu ter-aided design and manufacturing systems. Computer Science Work bench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII Preface to the Second Edition Computer graphics is growing very rapidly; only computer animation grows faster. The first edition of the book Computer Animation: Theory and Practice was released in 1985. Four years later, computer animation has exploded. Conferences on computer animation have appeared and the topic is recognized in well-known journals as a leading theme. Computer-generated film festivals now exist in each country and several thousands of films are produced each year. From a commercial point of view, the computer animation market has grown considerably. TV logos are computer-made and more and more simulations use the technique of computer animation. What is the most fascinating is certainly the development of computer animation from a research point-of-view."

This book contains 26 papers presented at the NATO Advanced Research Workshop on "CAD Based Programming for Sensory Robots," held in IL CIOCCa, Italy, July 4-6, 1988. CAD based robot programming is considered to be the process where CAD (Computer Based) models are used to develop robot programs. If the program is generated, at least partially, by a programmer interacting, for example, with a computer graph i c d sp i 1 ay of the robot and its workce 11 env ironment, the process is referred to as graphical off-line programming. On the other hand, if the robot program is generated automatically, for example, by a computer, then the process is referred to as automatic robot programmi ng. The key element here is the use of CAD models both for interact i ve and automat i c generat i on of robot programs. CAD based programmi ng, therefore, bri ngs together computer based model i ng and robot programmi ng and as such cuts across several discipl ines including geometric model ing, robot programming, kinematic and dynamic modeling, artificial intelligence, sensory monitoring and so-on.

This book is a collection of the best papers originally presented as state-of-the-art reports or tutorials at the EUROGRAPHICS'91 conference in Vienna. A choice has been made giving priority to information of lasting value. Another goal was to cover all aspects of computer graphics -except hardware -as completely as possible from modelling to advanced visualization and communication. The editors consider that the ten contributions by internationally renowned experts fulfil this goal perfectly. Some important problem areas are treated from different viewpoints thus enhancing and deepening the reader's perspective. Sabine Coquillart Wolfgang Strafier Peter Stucki Table of Contents l. Through the Cracks of the Solid Modeling Milestone 1 J arek R. Rossignac 2. Kinematics and Dynamics for Computer Animation 76 H. Ruder, T. Ertl, K. Gruber, M. Gunther, F. Hospach, M. Ruder, J. Subke, K. Widmayer 3. Dynamic Animation of Deformable Bodies 118 Marie-Paul Gascuel, Claude Puech 4. Stochastic Methods and Non-Fractal Applications 140 Huw Jones 5. State of the Art in Volume Visualization 166 Arie Kaufman 6. On the Theorey and Application of Stereolithographics in Scientific Visualization 178 Eric Hibbard, Michael Bauer, Margaret Bradshaw, Glenn Deardorff, Ken Hu, David Whitney 7. User Interface Management Systems: Present and Future 197 Michel Beaudouin-Lafon 8. Trends in Edge Detection Techniques 224 Eduard Antoniu 9.