Prof Dr Shigeo abe Kobe University Graduate School of engineering 1-1 Rokkodai-cho Nada-ku 657-8501 Japan abe@@kobe-uLac jp eries editor Prof. Sameer Singh. PhD Research School of Informatics loughborough University ISSN16177916 ISBN978-1-84996-097-7 e-lSBN978-1-84996-098-4 DOI10.1007/978-1-84996-098-4 Springer London Dordrecht Heidelberg New York A catalogue record for this book is available from the British Library Library of Congress Control Number: 2010920369 O Springer-Verlag London Limited 2005, 2010 Apart from any fair dealing for the purposes of research or private study. ermitted under the Copyright, Designs and Patents Act 1988, this publication ored or transmitted, in any form or by any means, with the prior permis m ublishers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should I nt to the publisher The use of registered names, trademarks, etc, in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free plied. with regard to the contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made Printed on acid-free paper SpringerispartofSpringerScience+businessMedia(www.springer.com)ISSN 1617-7916 ISBN 978-1-84996-097-7 e-ISBN 978-1-84996-098-4 DOI 10.1007/978-1-84996-098-4 Springer London Dordrecht Heidelberg New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2010920369 c Springer-Verlag London Limited 2005, 2010 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc., in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Prof. Dr. Shigeo Abe Kobe University Graduate School of Engineering 1-1 Rokkodai-cho Nada-ku Kobe 657-8501 Japan abe@kobe-u.ac.jp Series Editor Prof. Sameer Singh, PhD Research School of Informatics Loughborough University Loughborough, UK