Email User Group

The Möbius tool has a large community of users with a wide range of experience levels and a very diverse array problem domains. A large majority of Möbius users are members of the Mobius-Users mailing list. The list is relatively low traffic and a great place to ask beginner or expert-level questions. It is also the best source of news for Möbius changes and other announcements. We strongly encourage all Möbius users join the list!

You can sign up for the mailing list by sending a subscription request email message.

The searchable archives are also available on the web.

Papers from the Möbius Community

The UltraSAN and Möbius tools have reached a wide community of active users, whoare creatively applying the tools to a remarkable range of research areas. Below are listed a selection of papers illustrating many of the ways UltraSAN and Möbius have been used. We are presenting this list to help you develop your own ideas about ways the tools could be used.

We would love to hear from you about the work you're doing with the tools! If you're working with UltraSAN or Möbius, please let us know if you've written a paper based on that work!

  1. A-R. M. Abdalla and A. P. Jayasumana, "A WDM Ring Architecture Based on Integrated Group-Search Wavelength Add/Drop Multiplexers," Proc. International Conference on Telecommunications, June 1998, pp. 494-498.
  2. A. Aguirre, D. Munoz, C. Molina, and K. Basu, "Outage-GOS Relationship in Cellular Systems," IEEE Communications Letters, vol. 2, no. 1 , Jan. 1998, pp. 5-7.
  3. J. Arlat, A. Bondavalli, F. Di Giandomenico, M. T. Jarboui, E. Jenn, K. Kanoun, I. Mura, and D. Powell, "Dependability Evaluation," in A Generic Fault-Tolerant Architecture for Real-Time Dependable Systems, D. Powell (Ed.), Kluwer Academic Publishers, 2001, pp. 157-191.
  4. T. Asfour and A. Serhrouchni, "The Coexistence of Multicast and Unicast over a GPS Capable Network," in Proc. ICN'01, the IEEE International Conference on Networking, CREF, Colmar, France, July 9-13, 2001.
  5. Taghrid Asfour and Ahmed Serhrouchni, "RMTP Performance in Heterogeneous Environments and a New QoS-based Mechanism for Building RMTP Trees," in Proc. ISCC'2001, The Sixth IEEE Symposium on Computers and Communications, Hammamet, Tunisia, July 3-5, 2001.
  6. Taghrid Asfour, Stephane Block, Ahmed Serhrouchni, and Samir Tohmé, "Contractual Group Membership CGM: A New Mechanism for Multicast Group Management (a simulation with ns)," in Proc. ISCC'2000, The 5th IEEE Symposium on Computers and Communications, Antibes-Juan les Pins, France, July 3-6, 2000.
  7. Taghrid Asfour, Stephane Block, Ahmed Serhrouchni, and Samir Tohmé, "A New Mechanism for Heterogeneous Multicast Group Management," in Proc. Fifth INFORMS Telecommunications Conference, Boca Raton, Florida, March 5-8, 2000.
  8. M. Beccuti, D. Codetta-Raiteri, and G. Franceschinism "Multiple Abstraction Levels in Performance Analysis of WSN Monitoring Systems," (doi) Proceedings of the International Workshop on Performance Methodologies and Tools for Wireless Sensor Networks (WSNPerf), ICST, Pisa, Italy, October 2009.
  9. C. Bernardeschi, L. Cassano, M. G. C. A. Cimino, and A. Domenici, "Application of a Genetic Algorithm for Testing SEUs in SRAM-FPGA Systems," Proceedings of the 6th HiPEAC Workshop on Reconfigurable Computing (WRC 2012), 2012.
  10. C. Bernardeschi, L. Cassano, and A. Domenici, "Failure Probability and Fault Observability of SRAM-FPGA Systems," Proceedings of the International Conference on Field Programmable Logic and Applications (FPL2011), 2011, pp. 385-388.
  11. C. Bernardeschi, L. Cassano, and A. Domenici, "Failure Probability of SRAM-FPGA Systems with Stochastic Activity Networks," Proceedings of the IEEE 14th International Symposium on Design and Diagnostics of Electronic Circuits Systems (DDECS 2011), 2011, pp. 293-296.
  12. C. Bernardeschi, L. Cassano, A. Domenici, G. Gennaro, and M. Pasquariello, "Simulated Injection of Radiation-Induced Logic Faults in FPGAs," Proceedings of the 3rd International Conference on Advances in System Testing and Validation Lifecycle (VALID 2011), 2011, pp. 84-89.
  13. C. Bernardeschi, L. Cassano, A. Domenici, and P. Masci, "A Tool for Signal Probability Analysis of FPGA-Based Systems," Proceedings of the 2nd International Conference on Computational Logics, Algebras, Programming, Tools, and Benchmarking (COMPUTATION TOOLS 2011), 2011, pp. 13-18.
  14. C. Bernardeschi, L. Cassano, A. Domenici, and L. Sterpone, "Accurate Simulation of SEUs in the Configuration Memory of SRAM-based FPGAs," Proceedings of the 25th IEEE International Symposium on Defect and Fault Tolerance in VLSI and Nanotechnology Systems (DFT2012), 2012, pp. 115-120.
  15. A. Bondavalli, S. Chiaradonna, F. Di Giandomenico and F. Grandoni, "Discriminating Fault Rate and Persistency to Improve Fault Treatment," IEI/CNR, Pisa, Italy, Internal Report B4-33, December 1996.
  16. A. Bondavalli, S. Chiaradonna, F. Di Giandomenico and F. Grandoni, "Discriminating Fault Rate and Persistency to Improve Fault Treatment," in Proc. 27th IEEE FTCS - International Symposium on Fault-Tolerant Computing, Seattle, USA, 1997, pp. 354-362.
  17. A. Bondavalli, S. Chiaradonna, F. Di Giandomenico and F. Grandoni, "Threshold-Based Mechanisms to Discriminate Transient from Intermittent Faults," IEEE Transactions on Computers, vol. 49, pp. 230-245, 2000.
  18. A. Bondavalli, S. Chiaradonna, F. Di Giandomenico and F. Grandoni, "Threshold-Based Mechanisms to Discriminate Transient from Intermittent Faults," Technical Report, 17 June 1998.
  19. A. Bondavalli, S. Chiaradonna, I. Mura, "Modelling the Safety Critical PLC," GdL ISPESL Report, July 1999.
  20. A. Bondavalli, A. Coccoli and F. Di Giandomenico, "QoS Analysis of Group Communication Protocols in Wireless Environment," in Concurrency in Dependable Computing, P. Ezhilchelvan and A. Romanovsky (Eds.), Kluwer Academic Publishers, 2002, pp. 169-188.
  21. A. Bondavalli and I. Mura, "Brief Overview of some Tools to Support the Modelling and Evaluation of Phased Mission Systems," GUARDS Project - PDCC Technical Note, Report GUARDS/I3A4/AO/6015 version a, June 11, 1998.
  22. A. Bondavalli and I. Mura, "Users Guide for Tool-Supported Modelling of Phased-Mission Systems," GUARDS Project - PDCC Activity Output, Report GUARDS/I3A4/AO/6016 version a, June 11, 1998.
  23. A. Bondavalli, I. Mura and M. Nelli, "Analytical Modelling and Evaluation of the GUARDS Instances: Example for Space Applications," GUARDS Project - PDCC Activity Output, Report GUARDS/D3A4/AO/6001 C, March 18, 1997.
  24. A. Bondavalli, M. Nelli, L. Simoncini and G. Mongardi, "Hierarchical Modelling of Complex Control Systems: Dependability Analysis of a Railway Interlocking," Journal of Computer Systems Science and Engineering, vol. 16, pp. 249-261, 2001.
  25. V. Casares Giner, P. García Escalle, and J. Mataix Oltra, "Modeling Mobility Tracking Procedures for Personal Communications Services Networks using Stochastic Activity Networks," International Journal of Wireless Information Networks, vol. 9, no. 4, October 2002.
  26. V. Casares Giner, J. Mataix Oltra, and P. García Escalle, "Global Versus Local Mobility Tracking Strategies. Performance Analysis Using Stochastic Activity Networks," Proceedings of the 10th Annual International Conference on Wireless Communications, vol. 2, Calgary, Canada, July 1998, pp. 587-599.
  27. S. Chiaradonna, F. Di Giandomenico and A. Bondavalli, "Analytical Modelling of GUARDS Mechanisms and Components: Example of Error Filtering Mechanism," GUARDS Project - PDCC Activity Output, Report GUARDS/D3A4/AO/6002 version C, March 18, 1997.
  28. A. Coccoli, A. Bondavalli and F. Di Giandomenico, "Analysis and Estimation of the Quality of Service of Group Communication Protocols," in Proc. ISORC'01: 4th IEEE International Symposium on Object-oriented Real-time Distributed Computing, Magdeburg, Germany, 2001, pp. 209-216.
  29. A. Coccoli, S. Schemmer, F. Di Giandomenico, M. Mock and A. Bondavalli, "Analysis of Group Communication Protocols to Assess Quality of Service Properties," in Proc. HASE00: 5th IEEE High Assurance System Engineering Symposium, Albuquerque, NM, USA, 2000, pp. 247-256.
  30. A. Coccoli, P. Urbán, A. Bondavalli, and A. Schiper. "Performance Analysis of a Consensus Algorithm Combining Stochastic Activity Networks and Measurements," in Proc. Int'l Conf. on Dependable Systems and Networks (DSN), Washington, DC, USA, pp. 551-560, June 2002.
  31. D. Codetta-Raiteri, "Modelling and Simulating a Benchmark on Dynamic Reliability as a Stochastic Activity Network," Proceedings of the European Modelling and Simulation Symposium (EMSS), Rome, Italy, September 2011, pp. 545-554.
  32. D. Codetta-Raiteri and R. Nai, "Evaluation of Communication Scenarios inside the Electrical Power System," (doi) International Journal of Modelling and Simulation, vol. 30(3), pages 345-352, ACTA Press, September 2010.
  33. D. Codetta-Raiteri and R. Nai, "Representing Domains and Scenarios by Means of Model Replication and Composition," Proceedings of the Advances in Risk and Reliability Technology Symposium (AR2TS), Stratford upon Avon, UK, April 2011, pp. 261-274.
  34. D. Garcia-Roger, M. Jose Domenech-Benlloch, J. Martinez-Bauset, and V. Pla, "Adaptive Admission Control Scheme for Multiservice Mobile Cellular Networks," in Proceedings of the 1st Conference on Next Generation Internet Networks (NGI2005), Rome, Italy, Apr. 18-20, 2005, pp. 288-295.
  35. D. Garcia-Roger, M. Jose Domenech-Benlloch, J. Martinez-Bauset, and V. Pla, "Adaptive Trunk Reservation Policies in Multiservice Mobile Wireless Networks," in Proceedings of the 8th International Conference on Management of Multimedia Networks and Services (MMNS), Barcelona, Spain, October 24-26, 2005, pp. 47-58 (Lecture Notes in Computer Science (LCNS) 3754, Springer-Verlag, 2005).
  36. D. Garcia-Roger, M. Jose Domenech-Benlloch, J. Martinez-Bauset, and V. Pla, "Comparative Evaluation of Adaptive Trunk Reservation Schemes for Mobile Cellular Networks," in Proceedings of the 3rd International Working Conference on Performance Modelling and Evaluation of Heterogeneous Networks (HET-NETs), Ilkley, UK, July 18-20, 2005, paper no. 25.
  37. P. J. E. Goss and J. Peccoud, "Analysis of the Stabilizing Effect of Rom on the Genetic Network Controlling Plasmid ColE1 Replication," in Proc. Pacific Symposium for Biocomputing, pp. 65-76, 1999.
  38. P. J. E. Goss and J. Peccoud, "Quantitative Modeling of Stochastic Systems in Molecular Biology using Stochastic Petri Nets," Proc. Natl. Acad. Sci. U.S.A., vol. 95, pp. 6750-6755, 1998.
  39. F. Grandoni, S. Chiaradonna and A. Bondavalli, "A New Heuristic to Discriminate Transient from Intermittent Faults," in Proc. 3rd IEEE High Assurance System Engineering Symposium, Bethesda, MD, USA, 1998, pp. 224-231.
  40. Y. He, A. T. Tai, and A. Avizienis, "Performability Evaluation of the Certification Trail Method Using UltraSAN," Proceedings of the International Workshop on Computer-Aided Design, Test, and Evaluation for Dependability, Beijing, China, July 1996, pp. 139-144.
  41. K. Hjelmgren and S. Svensson, "Reliability Analysis of a Jet-Engine Control System," Technical Report No. 284, Dept. of Computer Engineering, Chalmers University of Technology, 1996.
  42. F. J. Jaimes-Romero, C. A. Molina-Ramirez, D. Munoz-Rodriguez, and H. Tawfik, "Modeling Handoff and Dynamic Channel Allocation Using Petri Nets," Proc. IEEE Vehicular Technology conference, 1995, pp. 876-890.
  43. F. J. Jaimes-Romero, D. Munoz-Rodriguez, C. Molina, and H. Tawfik, "Modeling Resource Management in Cellular Systems using Petri Nets," IEEE Transactions on Vehicular Technology, vol. 46, No. 2, p.p. 298-312, 1997.
  44. E. Jenn and M. Nelli, "Approach, Methodology and Tools for Validation by Analytical Modelling," Technicatome/PDCC, Second Part of D302: "Functional Specification and Preliminary Design of GUARDS Validation Environment," ESPRIT Project 20716 GUARDS Report, February 1997.
  45. Kshamta Jerath, Modeling and Stochastic Analysis of Embedded Systems Emphasizing Coincident Failures, Failure Severity and Usage-Profiles, Master's Thesis, Washington State University, 2002.
  46. Kshamta Jerath and Frederick T. Sheldon, "Assessing the Effect of Failure Severity, Coincident Failures and Usage-Profiles on the Reliability of Embedded Control Systems," Proceedings of the ACM Symposium on Applied Computing, Nicosia, Cyprus, March 14-17, 2004.
  47. Aria Kosari, Peter Popov, and Rajkumar Roy, "Modelling Safety of Connected and Autonomous Vehicles (CAVs) under Cyber-Attacks on Perception and Safety Monitors," Proceedings of the 2022 12th International Conference on Dependable Systems, Services and Technologies (DESSERT), 2022.
  48. Kai Lampka and Markus Siegle, "Symbolic Composition within the Moebius Framework," in B. Wolfinger and K. Heidtmann (Eds.), Leistungs-, Zuverlessigkeits- und Verlesslichkeitsbewertung von Kommunikationsnetzen und verteilten Systemen - 2. MMB Arbeitsgesprech, pp. 63-74. Universitat Hamburg, Fachbereich Informatik, Bericht 242, 2002.
  49. C. Lindemann, "DSPNexpress: A Software Package for the Efficient Solution of Deterministic and Stochastic Petri Nets," Performance Evaluation, vol. 22, pp. 3-21, 1995.
  50. C. Lindemann, A. Reuys and A. Thümmler, "The DSPNexpress 2.000 Performance and Dependability Modeling Environment," Proc. Int. Symposium on Fault-tolerant Computing Systems, Madison Wisconsin, pp. 228-231, June 1999.
  51. J. Mataix Oltra, V. Casares Giner, and P. Garcia Escalle, "Evaluation of Tracking Local Strategies in Wireless Networks with Stochastic Activity Networks," Proceedings of the 7th International Conference on Universal Personal Communications, vol. II, Florence (Italy), October 1998, pp. 735-740.
  52. N. Mazzocca, S. Russo and V. Vittorini, "The Modelling Process and Petri Nets: Reasoning on Different Approaches," in Process Modelling (PROCMOD99), ed. by B. Sholz-Reiter, H.-D. Stahlmann, and A. Nethe, pp. 37-56, Springer, 1999.
  53. John F. Meyer, "Performability of an Algorithm for Connection Admission Control," IEEE Trans. Comput., vol. 50, no. 7, pp. 724-733, July 2001.
  54. John F. Meyer, "Performability of Algorithms for Connection Admission Control," in Proc. ICDSN 2000, New York, NY, pp. 181-190, June 2000.
  55. John F. Meyer and J.-L. Tseng, "Evaluation of Cell Loss Correlation Using Stochastic Activity Networks," in Proc. 3rd ORSA Telecommunications Conference, Boca Raton, FL, March 1995.
  56. John F. Meyer and J.-L. Tseng, "Exact and Approximate Analysis of ATM Cell Loss Correlation," in Proc. 1996 IEEE Int'l Computer Performance and Dependability Symposium, Urbana, IL, Sept. 1996.
  57. M. Minichino, E. Ciancamerla, S. Chiaradonna, and A. Bondavalli, "An Experience of Dependability Assessment of a Typical Industrial Safety Critical Programmable Logic Controller," Proc. of the 4th International Symposium on Programmable Electronic Systems in Safety Related Applications, Cologne, Germany, May 3-4, 2000.
  58. C. Molina-Ramirez, D. Munoz-Rodriguez, and E. Lopez-Mellado, "Modeling and Analysis of Telecommunication Cellular Systems Using Petri Nets," Proc. IEEE Systems, Man and Cybernetics Conference, pp. 2322-2327, October 2-5, 1994.
  59. William M. Mounts and Michael N. Liebman, "Application of Petri Nets and Stochastic Activity Nets to Modeling Biological Pathways and Processes," International Journal in Computer Simulation, 1997.
  60. William M. Mounts and Michael N. Liebman, "Qualitative Modeling of Normal Blood Coagulation and its Pathological States Using Stochastic Activity Networks," International Journal of Biological Macromolecules, vol. 20, pp. 265-281, 1997.
  61. M. Nelli, "Modellamento e Valutazione di Attributi della Dependability di un Sistema Critico per l'Interlocking Ferroviario," Tesi di Laurea, Facoltá di Ingegneria, University of Pisa, Pisa, 1995.
  62. M. Nelli, A. Bondavalli and L. Simoncini, "Dependability Modelling and Analysis of Complex Control Systems: an Application to Railway Interlocking," in EDCC2, Taormina, Italy, Springer-Verlag, 1996, pp. 93-110.
  63. M. Nelli, A. Bondavalli, and L. Simoncini, "Hierarchical Modelling of HW/SW Control Systems: an Application to Dependability Analysis of Railway Interlocking," CNUCE-CNR, Pisa, Italy, Internal Report (C96-09), 1996.
  64. S. Porcarelli, F. Di Giandomenico and A. Bondavalli, "Analyzing Quality of Service of GPRS Network Systems from a Users Perspective," in Proc. ISCC02: IEEE Symposium on Computers and Communications, Taormina, Italy, 2002.
  65. D. Powell, J. Arlat, L. Beus-Dukic, A. Bondavalli, P. Coppola, A. Fantechi, E. Jenn, C. Rabejac and A. Wellings, "GUARDS: A Generic Upgradable Architecture for Real-time Dependable Systems," IEEE TPDS (special issue on Dependable Real-Time Systems), vol. 10, pp. 580-599, 1999.
  66. Y. Purwantoro, Systematic and Integrated Modelling of Reliability, Ph.D. Thesis, University of Sheffield, United Kingdom, 2002.
  67. Y. Purwantoro and S. Bennett, "Decomposition Technique and UltraSAN Software Tool for Performability Evaluation," Proceedings of the Fifteenth Annual UK Performance Engineering Workshop UKPEW'99, Bristol, United Kingdom, July 22-23, 1999, pp. 13-22.
  68. Y. Purwantoro and S. Bennett, "Decomposition Technique for Integrated Dependability Evaluation of Hardware-Software Systems using Stochastic Activity Networks," Proceedings of the 25th EUROMICRO Conference 2nd Workshop on Dependable Computing Systems, Milan, Italy, September 8-10, 1999, pp. 142-145.
  69. Y. Purwantoro and S. Bennett, "Hardware-Software Interaction in Dependability Modelling of Fault Tolerant Systems," Proceedings of the Seventeenth Annual UK Performance Engineering Workshop UKPEW'01, Leeds, United Kingdom, July 18-19, 2001, pp. 47-58.
  70. Mushtaq A. Sarwar, On the Performance and Reliability of Fault-Tolerant Scalable Coherent Interface Networks, Ph.D. Dissertation, Florida State University, 1999.
  71. M. Sarwar, A. George, and D. Collins, "Simulative Reliability Analysis of SCI Ring-Based Topologies," Proc. of IEEE Conference on Local Computer Networks (LCN), Tampa, FL, November 8-10, 2000.
  72. Frederick T. Sheldon, Kshamta Jerath, and Stefan Greiner, "Examining Coincident Failures and Usage-Profiles in Reliability Analysis of an Embedded Vehicle Sub-system," Proceedings of the 16th Euro Simulation Multiconference: Analytical and Stochastic Modelling Techniques, Darmstadt, Germany, June 3-5, 2002.
  73. Frederick Sheldon, Hye Yeon Kim, and Zhihe Zhou, "A Case Study: Validation of Guidance Control Software Requirements for Completeness, Consistency and Fault Tolerance," Proc. of the IEEE Pacific Rim Dependability Conf. (PDRC'2001), Seoul, Korea, Dec. 17-20, 2001.
  74. Frederick Sheldon, Gaoyan Xie, Orest Pilskalns, and Zhihe Zhou, "A Review of Some Rigorous Software Design and Analysis Tools," Software Focus, vol. 2, no. 4, pp. 140-150, Winter 2001.
  75. R. Srivastava, M. S. Peterson, and W. E. Bentley, "Stochastic Kinetic Analysis of the Escherichia coli Stress Circuit using sigma32-targeted Antisense," Biotechnology and Bioengineering, vol. 75, no. 1, pp. 120-129, 2001. (An abstract and full paper are available online.)
  76. R. Srivastava, L. You, J. Summers, and J. Yin, "Stochastic vs. Deterministic Modeling of Intracellular Viral Kinetics," Journal of Theoretical Biology, vol. 218, no. 3, pp. 309-321, October 7, 2002.
  77. A. T. Tai, J. F. Meyer, and A. Avizienis, Software Performability: From Concepts to Applications, Boston, MA: Kluwer Academic Publishers, 1996.
  78. F. Tataranni, S. Porcarelli, F. Di Giandomenico and A. Bondavalli, "Analysis of the Effects of Outages on the Quality of Service of GPRS Network Systems," in Proc. DSN2001 Int. Conference on Dependable Systems and Networks, Goteborg, Sweden, 2001, pp. 235-244.
  79. F. Tataranni, S. Porcarelli, F. Di Giandomenico, A. Bondavalli and L. Simoncini, "Modeling and Analysis of the Behavior of GPRS Systems," in Proc. WORDS 2001 6th International Workshop on Object-oriented Real-time Dependable Systems, Rome, Italy, 2001, pp. 51-58.
  80. F. Tataranni, S. Porcarelli, F. Di Giandomenico, and A. Bondavalli, "Modeling and Evaluation of the Effects of Outages on the Quality of Service of GPRS Network Systems," CNUCE-CNR Technical Report B4-2000-028, December 2000.
  81. Dimitra Tsavachidou, and Michael N. Liebman, "Modeling and Simulation of Pathways in Menopause," Journal of Medical Informatics Association, vol. 9, no. 5, pp. 461-471, Sept-Oct 2002.
  82. Philip Vozzola, Performability of Distributed Decision-Making Systems, Ph.D. Thesis, Rensselaer Polytechnic Institute, 2002.
  83. A. Yakovlev, A. M. Koelmans, L. Lloyd, and A. Semenov, "Designing an Asynchronous Processor using Petri Nets," IEEE Micro, Mar/Apr 1997, pp. 54-64.
  84. Meng-Lai Yin, Hierarchical-Compositional Performability Modeling for Fault-Tolerance Multiprocessor Systems, Ph.D. Dissertation, University of California, Irvine, 1995.
  85. Meng-Lai Yin, Douglas M. Blough, and Lubomir Bic, "A Dependability Analysis for Systems with Global Spares," IEEE Transactions on Computers, vol. 49, no. 9, pp. 958-963, Sept. 2000.
  86. Jeong-Joon Yoo, Doheon Lee, Young-Ho Suh, and Dong-Ik Lee, "Scalable Workflow System Model Based on Mobile Agents," LNCS 2132, pp. 222-236, 2001.
  87. Zilhe Zhou, Extending Message Sequence Charts for Multi-level and Multi-formalism Modeling in Möbius, Master's Thesis, Washington State University, 2002.
  88. Zhihe Zhou and Frederick Sheldon, "Integrating the CSP Formalism into the Möbius Framework for Performability Analysis," Proceedings of the 5th International Workshop on Performability Modeling of Computer and Communication Systems (PMCCS-5), Erlangen, Germany, September 15-16, 2001.
  89. Zhihe Zhou, Frederick T. Sheldon, and Thomas E. Potok, "Modeling with Stochastic Message Sequence Charts," IIIS Proceedings of the International Conference on Computer, Communication, and Control Technology (CCCT'03), Orlando, Florida, July 31-August 2, 2003.
  90. A. Zizzari, Macchine Intelligenti ed Applicazioni alla Robotica, Doctor Degree Thesis, University of Rome "La Sapienza," Rome, 1995.