This book is the third official archival publication devoted to RoboCup and documents the achievements presented at the Third Robot World Cup Soccer Games and Conferences, Robo-Cup-99, held in Stockholm, Sweden in July/August 1999. The book presents the following parts
- Introductory overview and survey
- Research papers of the champion teams and scientific award winners
- Technical papers presented at the RoboCup-99 Workshop
- Team description of a large number of participating teams.
This book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source or reference and inspiration for R&D professionals interested in multi-agent systems, distributed artificial intelligence, and intelligent robotics.

It is now 30 years since the network for digital communication, the ARPA-net, first came into operation. Since the first experiments with sending electronic mail and performing file transfers, the development of networks has been truly remarkable. Today's Internet continues to develop at an exponential rate that even surpasses that of computing and storage technologies. About five years after being commercialized, it has become as pervasive as the tele phone had become 30 years after its initial deployment. In the United States, the size of the Internet industry already exceeds that of the auto industry, which has been in existence for about 100 years. The exponentially increas ing capabilities of communication, computing, and storage systems is also reshaping the way science and engineering are pursued. Large-scale simulation studies in chemistry, physics, engineering, and sev eral other disciplines may now produce data sets of ,several terabytes or petabytes. Similarly, almost all measurements today produce data in digital form, whether from collections of sensors, three-dimensional digital images, or video. These data sets often represent complex phenomena that require rich visualization capabilities and efficient data-mining techniques to under stand. Furthermore, the data may be produced and archived in several differ ent locations, and the analysis carried out by teams with members at several locations-possibly distinct from those with significant storage, computation, or visualization facilities. The emerging computational Grids enable the transparent use of remote instruments, computational and data resources.

Neural Networks are a new, interdisciplinary tool for information processing. Neurocomputing being successfully introduced to structural problems which are difficult or even impossible to be analysed by standard computers (hard computing). The book is devoted to foundations and applications of NNs in the structural mechanics and design of structures.

This second volume of the series 'Reviews in Computational Chemistry' explores new applications, new methodologies, and new perspectives. The topics covered include conformational analysis, protein folding, force field parameterizations, hydrogen bonding, charge distributions, electrostatic potentials, electronic spectroscopy, molecular property correlations, and the computational chemistry literature. Methodologies described include conformational search strategies, distance geometry, molecular mechanics, molecular dynamics, ab initio and semiempirical molecular orbital calculations, and quantitative structure-activity relationships (QSAR) using topological and electronic descriptors.
A compendium of molecular modeling software will help users select the computational tools they need. Each chapter in 'Reviews in Computational Chemistry' serves as a brief tutorial for organic, physical, pharmaceutical, and biological chemists new to the field. Practitioners will be interested in the recent advances.

This book provides a comprehensive state-of-the-art, in conceptual modeling. It grew out of research papers presented at the 18th International Conference on Conceptual Modeling (ER '99) and arranged by the editors. The plan of the conference is to cover the whole spectrum of conceptual modeling as it relates to database and information systems design and to offer a complete coverage of data and process modeling, database technology, and database applications. The aim of the conference and of these proceedings is to present new insights related to each of these topics. This book contains both selected and invited papers. The 33 selected papers are organized in 11 sessions encompassing the major themes of the conference, especially : - schema transformation, evolution, and integration - temporal database design - views and reuse in conceptual modeling - advanced conceptual modeling - business process modeling and workflows - data warehouse design. Besides the selected papers, 3 invited papers present the views of three keynote speakers, internationally known for their contribution to conceptual modeling and database research and for their active role in knowledge dissemination. Peter Chen presents the results of his ongoing research on ER model, XML, and the Web. Georges Gardarin presents the first results of an ESPRIT project federating various data sources with XML and XML-QL. Finally, Matthias Jarke develops a way to capture and evaluate the experiences gained about process designs in so-called process data warehouses.

The objective of the present work is to review the existing literature on joint incongruity, cellular mechano-transduction, and computer simulations of mechano-adaptive bone remodelling, and to quantitatively assess the effect of incongruity on load transmission and subchondral mineralisation. Idealised computer models of incongruous joints and a specific anatomically based model of the humero-ulnar joint articulation were analysed with the finite element method, and the results directly compared with experimental and morphological data.

Increasing the designer's con dence that a piece of software or hardwareis c- pliant with its speci cation has become a key objective in the design process for software and hardware systems. Many approaches to reaching this goal have been developed, including rigorous speci cation, formal veri cation, automated validation, and testing. Finite-state model checking, as it is supported by the explicit-state model checkerSPIN, is enjoying a constantly increasingpopularity in automated property validation of concurrent, message based systems. SPIN has been in large parts implemented and is being maintained by Gerard Ho- mann, and is freely available via ftp fromnetlib.bell-labs.comor from URL http: //cm.bell-labs.com/cm/cs/what/spin/Man/README.html. The beauty of nite-state model checking lies in the possibility of building \push-button" validation tools. When the state space is nite, the state-space traversal will eventually terminate with a de nite verdict on the property that is being validated. Equally helpful is the fact that in case the property is inv- idated the model checker will return a counterexample, a feature that greatly facilitates fault identi cation. On the downside, the time it takes to obtain a verdict may be very long if the state space is large and the type of properties that can be validated is restricted to a logic of rather limited expressiveness.

The book presents innovative methods for the solution of multibody descriptor models. It emphasizes the interdependence of modeling and numerical solution of the arising system of differential-algebraic equations (DAE). Here, it is shown that modifications of non-stiff ODE-solvers are very effective for a large class of multibody systems. In particular, implicit methods are found to dovetail optimally with the linearly implicit structure of the model equations, allowing an inverse dynamics approach for their solution. Furthermore, the book stresses the importance of software development in scientific computing and thus presents a complete example of an interdisciplinary problem solution for an important field of application from technical mechanics.

The 20 research papers in this volume demonstrate novel models and concepts in animation and graphics simulation. Special emphasis is given on innovative approaches to Modelling Human Motion, Models of Collision Detection and Perception, Facial Animation and Communication, Specific Animation Models, Realistic Rendering for Animation, and Behavioral Animation.

This volume contains the papers presented at the Second International and - terdisciplinary Conference on Modeling and Using Context (CONTEXT 99), held in Trento (Italy) from 9 to 11 September 1999. CONTEXT 99 is the second in the CONTEXT series. The rst was held in Rio de Janeiro (Brazil) in 1997. The CONTEXT conference series is meant to provide an interdisciplinary - rum where researchers can exchange ideas, methodologies, and results on c- text, and is increasingly becoming an important reference for all people doing research on context. This is testi ed by the larger number of research areas that are represented at CONTEXT 99 (in particular, Philosophy and Cognitive Psychology were not signi cantly present at the rst conference), and by the number and quality of submitted papers. Speci cally, we received 118 papers, mostly of good or excellent quality. Among them, 33 (28%) have been accepted as full papers, and 21 as short papers. We think it is fair to say that the 54 papers collected in this volume provide a signi cant picture of the international research on context currently going on. The notion of context plays an important role in many areas, both theoretical and applied, such as Formal Logic, Arti cial Intelligence, Philosophy, Pragm- ics, Computational Linguistics, Computer Science, Cognitive Psychology."

User modeling researchers look for ways of enabling interactive software systems to adapt to their users-by constructing, maintaining, and exploiting user models, which are representations of properties of individual users. User modeling has been found to enhance the effectiveness and/or usability of software systems in a wide variety of situations. Techniques for user modeling have been developed and evaluated by researchers in a number of fields, including artificial intelligence, education, psychology, linguistics, human-computer interaction, and information science. The biennial series of International Conferences on User Modeling provides a forum in which academic and industrial researchers from all of these fields can exchange their complementary insights on user modeling issues. The published proceedings of these conferences represent a major source of information about developments in this area.

Neural networks have had considerable success in a variety of disciplines including engineering, control, and financial modelling. However a major weakness is the lack of established procedures for testing mis-specified models and the statistical significance of the various parameters which have been estimated. This is particularly important in the majority of financial applications where the data generating processes are dominantly stochastic and only partially deterministic. Based on the latest, most significant developments in estimation theory, model selection and the theory of mis-specified models, this volume develops neural networks into an advanced financial econometrics tool for non-parametric modelling. It provides the theoretical framework required, and displays the efficient use of neural networks for modelling complex financial phenomena. Unlike most other books in this area, this one treats neural networks as statistical devices for non-linear, non-parametric regression analysis.

This book contains the scientific papers presented at the SthEUROGRAPHICS Workshop on Virtual Environments '99, which st st was held in Vienna May 31 and June 1 . It was organized by the Institute of Computer Graphics of the Vienna University of Technology together with the Austrian Academy of Sciences and EUROGRAPHICS. The workshop brought together scientists from all over the world to present and discuss the latest scientific advances in the field of Virtual Environments. 31 papers where submitted for reviewing and 18 where selected to be presented at the workshop. Most of the top research institutions working in the area submitted papers and presented their latest results. These presentations were complemented by invited lectures from Stephen Feiner and Ron Azuma, two key researchers in the area of Augmented Reality. The book gives a good overview of the state of the art in Augmented Reality and Virtual Environment research. The special focus of the Workshop was Augmented Reality, reflecting a noticeable strong trend in the field of Virtual Environments. Augmented Reality tries to enrich real environments with virtual objects rather than replacing the real world with a virtual world. The main challenges include real time rendering, tracking, registration and occlusion of real and virtual objects, shading and lighting interaction, and interaction techniques in augmented environments. These problems are addressed by new research results documented in this book. Besides Augmented Reality, the papers collected here also address levels of detail, distributed environments, systems and applications, and interaction techniques.

This volume contains a collection of selected papers presented at the Symposium on Conceptual Modeling, which was held in Los Angeles, California, on December 2, th 1997, immediately before the 16 International Conference on Conceptual Modeling (ER'97), which was held at UCLA. A total of eighteen papers were selected for inclusion in this volume. These papers are written by experts in the conceptual modeling area and represent the most current thinking of these experts. This volume also contains the summaries of three workshops that were held on 6 7 December 1997, immediately after the ER'97 conference at UCLA. The topics of these three workshops are: * Behavioral Modeling * Conceptual Modeling in Multimedia Information Seeking * What Is the Role of Cognition in Conceptual Modeling? Since these topics are not only very important but also very timely, we think it is appropriate to include the summary of these three workshops in this volume. Those readers interested in further investigating topics related to the three workshops can either look up the individual paper published on the Web or contact the authors directly. The summary paper by Chen at the beginning of this volume also includes the summary of several interesting speeches at the Symposium.

The correct development of large / com plex pieces of software demands a thorough structuring of the design process. In a first phase the requirements engineering is relevant for capturing the relevant functionality and its adequate formalization in precise mathematical definitions. Prototyping can can be used as a means for checking the functional behaviour at this early stage of development. The ade quate specification resulting from the first phase is then the basis for the second phase which comprises the derivation of an implementation. This phase requires the use of formal methods and tools to verify/validate the implementation. A prerequisite for applying this approach is to have a suitable mechanical support. This volume contains the proceedings of the International Workshop Tool Support for System Specification, Development and Verification organized June 1 - 4, 1998, in Malente, Germany. This workshop is the third in a series of events devoted to this topic. The first two workshops were held in 1994 in Kiel and 1996 in Bremen, Germany. The aim of this workshop is to provide a forum for researchers interested in the use and development of tools which support the use of mathematical techniques for the specification, development and verification of systems. The workshop covers the spectrum from verification tools to graphical editors and compilers. The program of the workshop included an invited lecture and 26 talks. The invited lecture was given by F.W. von Henke (University ofUlm) on Mechanized formal methods and system design."

In the past decade visualization established its importance both in scientific research and in real-world applications. In this book 21 research papers and 9 case studies report on the latest results in volume and flow visualization and information visualization. Thus it is a valuable source of information not only for researchers but also for practitioners developing or using visualization applications.

The 9th Eurographics workshop on Animation and Simulation was held on Au- gust 31st -September 1st, 1998, at INESC Lisbon. The workshop was chaired by Bruno Arnaldi (IRISA Rennes, France) and Gerard Hegron (Ecole des Mines de Nantes, France). The local organizer Mario Rui Gomes (INESC Lisbon, Por- tugal) notably contributed to provide a harmonious environment. The main theme of this seventh workshop was centered on Virtual Reality versus Anima- tion and Simulation: from real time animation/simulation to physical perception of virtual environments. About twenty participants attended the workshop, rep- resenting eight countries: France, Spain, Austria, Switzerland, Ireland, Portugal, Germany and USA. The Program Committee selected eight papers among sub- mitted papers. Thirteen minutes of presentation and fifteen minutes discussion time per paper was also planned; this approach succeeded in creating a stimu- lating exchange atmosphere during the two days. Four sessions have been organized : Applications : in this session, two papers were presented, the first one deals with the use of simulation in natural desasters prevention while the second one concerns dynamic light sources for radiosity environments natural simulation : the first paper of this session presents works on real time behavioral simulation from psychological studies, the second one deals with identification of motion for living beeing. Interaction : the first paper presents a method for interactively animate solid using displacement contraints and the second paper presents the modeling of objects for interactive virtual human tasks.

Systems approaches are excellent in integrating insights in the physical, chemical, Systemsapproachesareexcellentinintegratinginsightsinthephysical, chemical, physiological and ecological processes that dictate the behaviour of living systems, of physiologicalandecologicalprocessesthatdictatethebehaviouroflivingsystems, of which which agro-ecosystems agro-ecosystems are are important importantones. ones. Furthermore, Furthermore, they theyhelp help to tobridge bridge the the gap gap between betweendetailed detailed process processoriented oriented studies studies and and higher higherintegration integration levels. levels. Systems Systems approaches approaches are are roughly roughlycategorized categorized in inthree three groups groups of of studies: studies: (i) (i) predictive predictive studies studies to to support support decision decision making making and and guide guide interventions, interventions, (ii) (ii) systems systemsanalysis analysis and and simulation simulation in inorder order to toget get insight insight and and understanding understandingof of the the functioning functioningof of (living) (living) systems, systems, and and (iii) (iii) explorative explorative studies studies to to investigate investigate possible possible options options for for development development and and trade trade offs offs of of aims, aims, objectives objectives and andconstraints. constraints. All All these these systems systems approaches approaches are are now nowwidely widely used used in inecological ecological systems systems including including agriculture, agriculture, and and applied appliedin in land landuse use planning. planning. This This book book is is an an introduction introduction to toone one of ofthe the major majorfields: fields: systems systems analysis analysis and and simula simula tion. tion."

This book constitutes the thoroughly refereed post-workshop proceedings of the First International Workshop on Multi-Agent Systems and Agent-Based Simulation, MABS'98, held in Paris, France in July 1998 in conjunction with Agent World 1998. The 15 revised full papers presented together with an introduction by the volume editors were selected from a total of more than 50 submissions. Among the topics covered are multi-agent systems, social simulation, agent-based modelling, cognitive emergence, honey-bee colonies, artificial societies, economic aspects, cultural evolution, roles in agent systems, applications in various areas, etc.

19 papers presented by international experts give a state-of-the-art survey of the relevant problems and issues in modeling, CAD/CAM, scientific visualization, and computational geometry. The following topics are treated: * surface design and fairing * subdivision schemes * variational design * NURBS * reverse engineering * physically-based modelling * medical imaging

The CAPTECH'98 workshop took place at the University of Geneva on November 26-27, 1998, sponsored by FIP Working Group 5.10 (Computer Graphics and Virtual Worlds) and the Suisse Romande regional doctoral seminar in computer science. The subject of the conference was ongoing research in data capture and interpretation. The goals of capturing real world data in order to perceive, understand, and interpret them and then reacting to them in a suitable way are currently important research problems. These data can be very diverse: sounds, emotions, shapes, motions, forces, muscles, actions, etc. Once captured, they have to be treated either to make the invisible visible, or to understand a particular phenomenon so as to formulate an appropriate reaction, or to integrate various information in a new multimedia format. The conference included six sessions of presented papers and three panel discussions. Invited speakers treating various aspects of the topic were: Professor R. Earnshaw from Bradford University, Professor T. L. Kunii from Hosei University, and Professor P. Robert from EPFL. Professor K. Bauknecht, of the University of Zurich, President of IFIP, offered the welcoming address. Mr. E. Badique, project officer for the EU in Brussels, discussed recent results of the EU ACTS research program. Finally, the Geneva Computer Animation '98 Film Festival highlighted the evening of November 26."

I would like to welcome you to Singapore and the 17th International Conf- enceonConceptualModeling(ER 98).Thisconferenceprovidesaninternational forum for technical discussion on conceptual modeling of information systems among researchers, developers and users. This is the ?rst time that this c- ference is held in Asia, and Singapore is a very exciting place to host ER 98. We hope that you will ?nd the technical program and workshops useful and stimulating. The technical program of the conference was selected by the distinguished program committee consisting of two co-chairs and 83 members. Credit for the excellent?nalprogramisduetoTokWangLingandSudhaRam.Specialthanks to Frederick H. Lochovsky for selecting interesting panels, and Alain Pirotte for preparation of attractive tutorials. I would also like to thank Yong Meng Teo (PublicityChair), andtheregionco-ordinators, AlbertoLaender, ErichNeuhold, Shiwei Tang, and Masaaki Tsubaki, for taking care of publicity. The following three workshops are also organized to discuss speci?c t- ics of data modeling and databases: International Workshop on Data Wa- housing and Data Mining organized by Sham Navathe (Workshop chair) and MukeshMohania(ProgramCommitteeChair), InternationalWorkshoponNew Database Technologies for Collaborative Work Support and Spatio-Temporal DataManagement organizedbyYoshifumiMasunaga, and InternationalWo- shop on Mobile Data Access organized by Dik L. Lee. Ee Peng Lim took care of all detailed work related to the workshops. I would like to thank all these people who organized the workshops as well as the members of program committees. The workshop proceedings will be published jointly after the workshop."

We never create anything, We discover and reproduce. The Twelfth International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems has a distinguished theme. It is concerned with bridging the gap between the academic and the industrial worlds of Artificial Intelligence (AI) and Expert Systems. The academic world is mainly concerned with discovering new algorithms, approaches, and methodologies; however, the industrial world is mainly driven by profits, and concerned with producing new products or solving customers problems. Ten years ago, the artificial intelligence research gap between academia and industry was very broad. Recently, this gap has been narrowed by the emergence of new fields and new joint research strategies in academia. Among the new fields which contributed to the academic-industrial convergence are knowledge representation, machine learning, searching, reasoning, distributed AI, neural networks, data mining, intelligent agents, robotics, pattern recognition, vision, applications of expert systems, and others. It is worth noting that the end results of research in these fields are usually products rather than empirical analyses and theoretical proofs. Applications of such technologies have found great success in many domains including fraud detection, internet service, banking, credit risk and assessment, telecommunication, etc. Progress in these areas has encouraged the leading corporations to institute research funding programs for academic institutes. Others have their own research laboratories, some of which produce state of the art research."

Some of the best current research on realistic rendering is included in this volume. It emphasizes the current "hot topics in this field: image based rendering, and efficient local and global-illumination calculations. In the first of these areas, there are several contributions on real-world model acquisition and display, on using image-based techniques for illumination and on efficient ways to parameterize and compress images or light fields, as well as on clever uses of texture and compositing hardware to achieve image warping and 3D surface textures. In global and local illumination, there are contributions on extending the techniques beyond diffuse reflections, to include specular and more general angle dependent reflection functions, on efficiently representing and approximating these reflection functions, on representing light sources and on approximating visibility and shadows. Finally, there are two contributions on how to use knowledge about human perception to concentrate the work of accurate rendering only where it will be noticed, and a survey of computer graphics techniques used in the production of a feature length computer-animated film with full 3D characters.

In twelve selected papers common problems in scientific visualization are discussed: adaptive and multi-resolution methods, feature extraction, flow visualization, and visualization quality. Four papers focus on aspects of mesh reduction, mesh compression, and increasing the quality of the resulting mesh. Two extentions on particle tracing are presented as well as a paper on the simulation of material transport. Two papers are on feature extraction in dynamics systems and on the accuracy of algorithmic extracted features. Three papers focus on stereoscopic volume rendering, on the visualization of atomic collision cascades and of quality of visualization systems in general.