主な研究業績と研究活動
論文誌掲載論文

Soichiro Ikuno, Gong Chen, Taku Itoh, Susumu Nakata, Kuniyoshi Abe,
“Variable Preconditioned Krylov Subspace Method with Communication Avoiding Technique for Electromagnetic Analysis,”
IEEE Transactions on Magnetics, Vol.53, No.6, pp.1–4, 2017.

Yasutomo Kanetsuki, John C. Wells, Susumu Nakata,
“Smoothed Particle Hydrodynamics Method with Partially Defined Fluid Particles,”
Mathematical Methods in the Applied Sciences, accepted.

Taku Itoh, Susumu Nakata,
“Fast Generation of Smooth Implicit Surface Based on Piecewise Polynomial,”
Computer Modeling in Engineering & Sciences, Vol.107, No.3, pp.187–199, 2015.

Yasutomo Kanetsuki, Susumu Nakata,
“Moving Particle Semiimplicit Method for Fluid Simulation with Implicitly Defined Deforming Obstacles,”
Journal of Advanced Simulation in Science and Engineering, Vol.2, No.1, pp.63–75, 2015.

Susumu Nakata, Yasuaki Sakamoto,
“ParticleBased Parallel Fluid Simulation in ThreeDimensional Scene with Implicit Surfaces,”
Journal of Supercomputing, Vol.71, No.5, pp.1766–1775, 2015.

Soichiro Ikuno, Yoshihisa Fujita, Yuta Hirokawa, Taku Itoh, Susumu Nakata, Atsushi Kamitani,
“LargeScale Simulation of Electromagnetic Wave Propagation Using Meshless Time Domain Method with Parallel Processing,”
IEEE Transactions on Magnetics, Vol.49, No.5, pp.1613–1616, 2013.

Susumu Nakata, Shohei Aoyama, Ryosuke Makino, Kyoko Hasegawa, Satoshi Tanaka,
“RealTime Isosurface Rendering of Smooth Fields,”
Journal of Visualization, Vol.15, No.2, pp.179–187, 2012.

Soichiro Ikuno, Yoshihisa Fujita, Taku Itoh, Susumu Nakata, Hiroaki Nakamura, Atsushi Kamitani,
“Numerical Simulation of Electromagnetic Wave Propagation using Time Domain Meshless Method,”
Plasma and Fusion Research, Vol.7, 2406044, 2012.

Soichiro Ikuno, Yuki Kawaguchi, Norihisa Fujita, Taku Itoh, Susumu Nakata, Kota Watanabe,
“Iterative Solver for Linear System Obtained by Edge Element: Variable Preconditioned Method with Mixed Precision on GPU,”
IEEE Transactions on Magnetics, Vol.48, No.2, pp.467–470, 2012.

Yuusuke Tsukamoto, Shuhei Kawashima, Seiji Inoue,
Shin Ito, Shinji Kataoka, Kazuyuki Kojima, Kyoko Hasegawa,
Susumu Nakata, Satoshi Tanaka,
“Data Fitting Independent of Grid Structure Using a Volumic Version of MPU,”
Journal of Visualization, Vol.14, No.2, pp.161–170, 2011.

Soichiro Ikuno, Norihisa Fujita, Yuki Kawaguchi, Taku Itoh, Susumu Nakata, Kota Watanabe, Hiroyuki Nakamura,
“High Performance Iterative Solver for Linear System using Multi GPU,”
Plasma and Fusion Research, Vol.6, 2401069, 2011.

Susumu Nakata, Yu Takeda, Norihisa Fujita, Soichiro Ikuno,
“Parallel Algorithm for Meshfree Radial Point Interpolation Method on Graphics Hardware,”
IEEE Transactions on Magnetics, Vol.47, No.5, pp.1206–1209, 2011.

Susumu Nakata,
“Parallel Meshfree Computation for Parabolic Equations on Graphics Hardware,”
International Journal of Computer Mathematics,
Vol.88, No.9, pp.1909–1919, 2011.

Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Meshfreee Elastodynamic Analysis of Threedimensional Solids Using Radial Point Interpolation Method,”
International Journal of Modeling, Simulation, and Scientific Computing,
Vol.2, No.1, pp.83–95, 2011.

Susumu Nakata,
“An Efficient Scheme for Meshless Analysis Based on Radial Basis Functions,”
Journal of Numerical Analysis, Industrial and Applied Mathematics,
Vol.4, No.3–4, pp.193–201, 2010.

Satoshi Tanaka, Kyoko Hasegawa, Susumu Nakata, Hideo Nakajima,
Takuya Hatta, Frederika Rambu Ngana, Takuma Kawamura, Naohisa Sakamoto,
Koji Koyamada,
“Gridindependent Metropolis Sampling for Volume Visualization,”
International Journal of Modeling, Simulation, and Scientific Computing,
Vol.1, No.2, pp.199–218, 2010.

Takanori Ide, Hiroshi Isozaki, Susumu Nakata, Samuli Siltanen,
“Local Detection of ThreeDimensional Inclusions in Electrical Impedance Tomography,”
Inverse Problems, Vol.26, No.2, 17 pages, 2010.

Yuzuru Isoda, Akihiro Tsukamoto, Yoshihiro Kosaka, Takuya Okumura,
Masakazu Sawai, Keiji Yano, Susumu Nakata, Satoshi Tanaka,
“Reconstruction of Kyoto of the Edo Era Based on Arts and Historical Documents: 3D Urban Model Based on Historical GIS Data,”
International Journal for Humanities and Arts Computing,
Vol.3, No.1–2, pp.21–38, 2009.

Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“A Fast Solver for 3D Meshless Analysis Based on RPIM,”
Theoretical and Applied Mechanics Japan, Vol. 56, pp.439–444, 2008.

Takanori Ide, Hiroshi Isozaki, Susumu Nakata, Samuli Siltanen, Gunther Uhlmann,
“Probing for Electrical Inclusions with Complex Spherical Waves,”
Communications on Pure and Applied Mathematics, Vol.60, Issue 10, pp.1415–1442, 2007.

Yoshitomo Jo, Masafumi Oka, Akinori Kimura, Kyoko Hasegawa, Ayumu Saitoh,
Susumu Nakata, Akihiro Shibata, Satoshi Tanaka,
“Stochastic Visualization of Intersection Curves of Implicit Surfaces,”
Computers & Graphics, Vol.31, No.2, pp.230–242, 2007.

Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Meshless Structural Analyses of Complex Shape Models Using Implicit Surface Representations,”
Journal of Plasma Physics, Vol.72, Pt.6, pp.1081–1086, 2006.

Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Meshless Method for Structural Analysis Based on Surface Reconstruction,”
Theoretical and Applied Mechanics Japan, Vol.55, pp.247–252, 2006.

Taku Itoh, Takashi Kitagawa, Susumu Nakata,
“Implicit Surface Reconstruction of 3D Objects: Preconditioned Iterative Methods for the CSRBFType Linear Systems,”
Electronics and Communications in Japan (Part III: Fundamental Electronic Science),
Vol.89, No.4, pp.11–20, 2005.

Taku Itoh, Daichi Fujimoto, Takashi Kitagawa, Susumu Nakata,
“Incomplete Cholesky Preconditioners with BandDiagonalization for Sparse Symmetric Systems,”
Applied Numerical Analysis & Computational Mathematics,
Vol.1, No.3, pp.489–494, 2004.

Takashi Kitagawa, Susumu Nakata, Yohsuke Hosoda,
“Regularization Using QR Factorization and the Estimation of the Optimal Parameter,”
BIT: Numerical Mathematics,
Vol.41, No.5, pp.1049–1058, 2001.
国際会議発表

Susumu Nakata, Yuki Yokoyama, Taku Itoh, Gong Chen, Soichiro Ikuno,
“Interactive FiniteDifference TimeDomain Simulation for Designing Multichannel Photonic Crystal Waveguides,”
International Symposium on Applied Electromagnetics and Mechanics (ISEM) 2017,
Chamonix, France, September 3–6, Paper No. 241, 2017.

Soichiro Ikuno, Gong Chen, Taku Itoh, Susumu Nakata, Kuniyoshi Abe,
“Parallelization of Krylov Subspace Method with Communication Avoiding Technique Using Multicore Processor and GPU,”
International Symposium on Applied Electromagnetics and Mechanics (ISEM) 2017,
Chamonix, France, September 3–6, Paper No. 237, 2017.

Yasutomo Kanetsuki, Susumu Nakata,
“Acceleration of Particle Based Fluid Simulation with Adhesion Boundary Conditions Using GPU,”
Asia Simulation Conference 2017, Melaka, Malaysia,
August 27–29, 2017.
(Proceedings of Asia Simulation Conference 2017, pp.337–348,
2017.)
(Best Paper Award 2nd RUNNERUP)

Yasutomo Kanetsuki, John C. Wells, Susumu Nakata,
“Efficient Local Smoothed Particle Hydrodynamics with Precomputed Patches,”
Computational and Mathematical Methods in Science and Engineering,
Cadiz, Spain, July 4–8, pp. 1148–1151, 2017.

Yuki Yokoyama, Gong Chen, Susumu Nakata, Soichiro Ikuno,
“Interactive Electromagnetic Simulation for Optimizing Photonic Crystal Waveguides Using GPU,”
Compumag 2017,
Daejeon, Korea, June 18–22, 2017.

Hikaru Fujita, Yuya Mitsutome, Keiko Watanabe, Susumu Nakata,
“Automatic Generation of 3Dimensional Shape Model Having the Structure of Foamed Aluminum,”
International Conference on Simulation Technology,
Kyoto, Japan, October 27–29, pp. 249–252, 2016.

Gong Chen, Taku Itoh, Susumu Nakata, Soichiro Ikuno,
“Interactive Shape Optimization of Waveguide for Electromagnetic Wave Using GPUOpenGL,”
International Conference on Simulation Technology,
Kyoto, Japan, October 27–29, pp. 206–207, 2016.

Yasutomo Kanetsuki, John C. Wells, Susumu Nakata,
“Smoothed Particle Hydrodynamics Method with Partially Defined Fluid Particles,”
Computational and Mathematical Methods in Science and Engineering,
Cadiz, Spain, July 4–8, pp. 1407–1418, 2016.

Yasutomo Kanetsuki, Ruck Thawonmas, Susumu Nakata,
“Optimization and Simplification of Dynamic Scripting with Evolution Strategy and Fuzzy Control in a Fighting Game AI,”
IEEE 4th Global Conference on Consumer Electronics,
Osaka, Japan, October 27–30, pp. 330–331, 2016.

Koki Makishima, Susumu Nakata,
“RealTime ParticleBased Fluid Simulation with Interactively Deformable Obstacles,”
International Conference on Simulation Technology,
Toyama, Japan, October 12–14, 2015.
(Student Presentation Award, Encouragement Award)

Yasutomo Kanetsuki, Susumu Nakata,
“ParticleBased Fluid Simulation with Implicitly Defined Deforming Obstacles,”
International Conference on Simulation Technology,
Kitakyushu, Japan, October 29–30, pp. 32–33, 2014.

Yasutomo Kanetsuki, Yasuaki Sakamoto, Susumu Nakata,
“Moving Particle SemiImplicit Method for Fluid Simulation with Implicitly Defined Obstacles,”
International Conference on Mathematical Modeling in Physical Sciences,
Madrid, Spain, August 28–31, 2014.

Susumu Nakata, Yasuaki Sakamoto,
“ParticleBased Parallel Fluid Simulation
in ThreeDimensional Scene with Implicit Surfaces,”
Computational and Mathematical Methods in Science and Engineering,
Cadiz, Spain, July 3–7, pp.1367–1376, 2014.

Wang Sheng, Susumu Nakata, Satoshi Tanaka, Hiromi. H. Tanaka, Akihiro Tsukamoto,
“Modeling HighQuality and Gamelike Virtual Space
of a Court Noble House by Using 3D Game Engine,”
International Conference on Culture and Computing,
Kyoto, Japan, October 16–18, pp.212–213, 2013.

Taku Kusanagi, Kyoko Hasegawa, Susumu Nakata, Toshinori Yabuuchi,
Kazuo Tanaka, Satoshi Tanaka,
“Visualizing Experiments and Simulation of Plasma Plumes
by Using ParticleBased Rendering,”
International Conference on Simulation Technology,
Tokyo, Japan, September 11–13, 2013.

Yuta Fujimoto, Satoshi Tanaka, Kyoko Hasegawa, Tomoko Tateyama, Susumu Nakata,
YenWei Chen, Saori Ojima,
“Local Transparency Control of Medical Slice Images
and its Application
to SliceSlice and SliceVolume Fusion,”
International Conference on Simulation Technology,
Tokyo, Japan, September 11–13, 2013.

Masayuki Iwasaki, Susumu Nakata, Satoshi Tanaka,
“GPUAccelerated Uniform Sampling
of Implicit Surfaces,”
International Conference Computational and Mathematical Methods
in Science and Engineering,
Almeria, Spain, June 24–27, pp.839–842, 2013.

Susumu Nakata, Yasuaki Sakamoto,
“GPU Accelerated Fluid Simulation
with Implicit Surface Obstacles,”
International Conference on Computational & Experimental Engineering and Sciences,
Seattle, USA, May 24–28, 2013.

Susumu Nakata, Soichiro Ikuno,
“Fast Meshfree Radial Point Interpolation Method for
Large Deformation Analysis,”
International Conference on Parallel, Distributed, Grid and
Grid Computing for Engineering,
Pecs, Hungary, March 25–27, 2013.

Asuka Sugiyama, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Semitransparent and Fused Visualization of
Tetrahedral Simulation Volume Data,”
Asia Simulation Conference 2012, Shanghai, China,
October 27–30, 2012.
(Proceedings of Asia Simulation Conference 2012, pp.350–357,
2012.)

Takehiko Kitagawa, Susumu Nakata, Satoshi Tanaka, Kyoko Hasegawa,
“ParticleBased Transparent Texture Mapping
for Implicit Surfaces,”
Asia Simulation Conference 2012, Shanghai, China,
October 27–30, 2012.
(Proceedings of Asia Simulation Conference 2012, pp.406–411,
2012.)

Wang Sheng，Susumu Nakata，Satoshi Tanaka，
“3D CG Model and Virtual Space of Court Noble
House “Reizeike”,”
Asia Simulation Conference 2012, Shanghai, China,
October 27–30, 2012.
(Proceedings of Asia Simulation Conference 2012, pp.365–371,
2012.)

Kenta Sato, Hiroyuki Yamamura, Akihiro Tsukamoto, Yuzuru Isoda, Susumu Nakata, Satoshi Tanaka,
“Publishing ThreeDimensional City Models on
the Web,”
Asia Simulation Conference 2012, Shanghai, China,
October 27–30, 2012.
(Proceedings of Asia Simulation Conference 2012, pp.322–330,
2012.)

Takahiro Yoshida, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Transparent Visualization with Feature
Extraction Based on Particlebased Rendering,”
MPR2012, Fukuoka, Japan, October 16–17, 2012.

Asuka Sugiyama, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Sortfree Transparent Isosurface Visualization
of Tetrahedral Volume Data,”
International Conference on Simulation Technology, Kobe, Japan,
September 27–28, 2012.

Takehiko Kitagawa, Susumu Nakata, Satoshi Tanaka, Kyoko Hasegawa,
“Transparent Visualization for Implict Surface
Considered Texture,”
International Conference on Simulation Technology, Kobe, Japan,
September 27–28, 2012.

Yasuaki Sakamoto, Susumu Nakata, Satoshi Tanaka, Kyoko Hasegawa,
“Particle Based Fluid Simulation for 3D Scene
with Implict Surfaces,”
International Conference on Simulation Technology, Kobe, Japan,
September 27–28, 2012.

Susumu Nakata,
“Fast Meshfree Radial Point Interpolation Method for
Large Deformation Analysis,”
ICCES MM 2012,
Budva, Montenegro, September 2–6, 2012.

Satoshi Tanaka, Kyoko Hasegawa, Yoshiyuki Shimokubo, Tomonori Kaneko,Takuma Kawamura, Susumu Nakata, Saori Ojima, Naohisa Sakamoto, Hiromi T. Tanaka, Koji Koyamada,
“ParticleBased Transparent Rendering of Implicit Surfaces and its Application to Fused Visualization,”
EuroVis 2012,
Vienna, Austria, June 5–8, 2012.

Susumu Nakata, Soichiro Ikuno,
“GPUAccelerated Meshfree Method for Elastic Analysis Based on the Radial Point Interpolation Method,”
ICCES MM 2011,
Zonguldak, Turkey, September 6–10, 2011.

Soichiro Ikuno, Yuki Kawaguchi, Norihisa Fujita, Taku Itoh,
Susumu Nakata, Kota Watanabe,
“Iterative Solver for Linear System Obtained by Edge Element: Variable Preconditioned Method with Mixed Precision on GPU,”
Compumag 2011,
Sydney, Australia, July 12–15, 2011.

Susumu Nakata, Shohei Aoyama, Ryosuke Makino, Kyoko Hasegawa, Satoshi Tanaka,
“RealTime Isosurface Rendering of Smooth Fields,”
Proceedings of ASV11 (The 11th Asian Symposium on Visualization),
Niigata, Japan, June 5–9, 2011.

Naoya Kawamoto, Yuichi Hatanaka, Kyoko Hasegawa, Susumu Nakata,
Satoshi Tanaka, Norihisa Sakamoto, Koji Koyamada, Masanori Osada,
Kazuo Tanaka,
“Static Visualization of Dynamical Plasma Collision,”
Proceedings of ASV11 (The 11th Asian Symposium on Visualization),
Niigata, Japan, June 5–9, 2011.

Susumu Nakata, Yu Takeda, Norihisa Fujita, Soichiro Ikuno,
“Parallel Algorithm for Meshfree Radial Point Interpolation Method on Graphics Hardware,”
IEEE Conference on Electromagnetic Field Computation (CEFC 2010),
Chicago, Illinois, USA, May 9–12, 2010.
(Poster Paper Award)

Soichiro Ikuno, Norihisa Fujita, Susumu Yamamoto, Susumu Nakata,
“Implementation of Variable Preconditioned GCR with Mixed Precision on GPU Using CUDA,”
IEEE Conference on Electromagnetic Field Computation (CEFC 2010),
Chicago, Illinois, USA, May 9–12, 2010.

Masami Shibazaki, Yuzuru Isoda, Akihiro Tsukamoto, Yoshihiro Kosaka, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Modeling, Viewing and Simulating Kyoto Street Models Created from GIS Data,”
22nd CIPA Symposium,
Kyoto, Japan, October 11–15, 2009

Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Heat Transfer Analysis Using Modified Radial Point Interpolation Method,”
Asia Simulation Conference 2009 JSST2009,
Shiga, Japan, October 7–9, 2009.

Hideo Nakajima, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Monte Carlo Sampling with Adaptive Space Partitioning of MPU for Volume Visualization,”
Asia Simulation Conference 2009 JSST2009,
Shiga, Japan, October 7–9, 2009.

Ryohei Koga, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Visualization Tool for Meshfree Analysis of ThreeDimensional Solids,”
Asia Simulation Conference 2009 JSST2009,
Shiga, Japan, October 7–9, 2009.

Masakazu Sawai, Yuzuru Isoda, Akihiro Tsukamoto, Yoshihiro Kosaka, Susumu Nakata, Satoshi Tanaka,
“SpreadSheetBased Automatic Modeling of Urban Street Models from GIS Data,”
Asia Simulation Conference 2009 JSST2009,
Shiga, Japan, October 7–9, 2009.

Tatsushi Oki, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Precision of Volume Data Fitted with a Volumic MPU,”
Asia Simulation Conference 2009 JSST2009,
Shiga, Japan, October 7–9, 2009.
(Proceeding for Poster Session, P09.)

Yuusuke Tsukamoto, Shinji Kataoka, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Data Interpolation Independent of Grid Structure Using a Volumic Version of MPU,”
Asia Simulation conference 2009, Ritsumeikan University, Siga, Japan,
Octorber 7–9, 2009.

Hideo Nakajima, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Volume Visualization with GridIndependent Adaptive Monte Carlo Sampling,”
The Fifth International Conference on Intelligent Information Hiding and Multimedia Signal Processing (IIHMSP2009), Kyoto, Japan, September 12–14, 2009.

Takashi Hirabe, Masakazu Sawai, Yuzuru Isoda, Akihiro Tsukamoto, Yoshihiro Kosaka, Kyoko Hasegawa, Susumu Nakata, Satoshi Tanaka,
“Automatic Modeling of Virtual 3D Streets Based on GIS Data —Application to Generation of Kyoto in the Edo Era—,”
The Fifth International Conference on Intelligent Information Hiding and
Multimedia Signal Processing (IIHMSP2009),
Kyoto, Japan, September 12–14, 2009.

Susumu Nakata, Kyoko Hasegawa, Satoshi Tanaka,
“Meshfree Structural Analysis using the Modified Radial Point Interpolation Method,”
Civilcomp 2009, Funchal, Portugal, September 1–4, 2009.
(Proceedings of the Twelfth International Conference on Civil,
Structural and Environmental Engineering Computing, paper 102,
CivilComp Press, 2009.)

Susumu Nakata,
“Fast Computation of Meshfree Elastostatic Analysis Using Graphics Processors,”
Meshfree Methods for Partial Differential Equations,
Bonn, Germany, August 17–19, 2009.

Susumu Nakata,
“Parallel Meshfree Computation for Parabolic Equations on Graphics Hardware,”
International Conference on Computational and Applied Mathematical Methods in S\
cience and Engineering,
Gijon, Spain, June 30, July 1–3, 2009.
(Proceeding of CMMSE 2009, pp.1365–1375, 2009.)

Susumu Nakata,
“Acceleration of Meshfree Radial Point Interpolation Method on Graphics Hardware,”
International Conference on Numerical Analysis and Applied Mathematics 2008,
Kos, Greece, September 16–20, 2008.
(ICNAAM 2008 proceedings, AIP conference proceedings 1048, pp.396–399, 2008).

Susumu Nakata,
“Meshless Analysis with NonUniformly Distributed Nodes Using Hierarchical Cell Structure,”
International Conference of Numerical Analysis and Applied Mathematics 2007,
Corfu, Greece, September 16–20, 2007.
(ICNAAM 2007 proceedings, AIP conference proceedings 936, pp.378–381, 2007).

Ayumu Saitoh, Satoshi Tanaka, Susumu Nakata, Atsushi Kamitani,
“Accuracy Improvement of BNM,”
COMPUMAG 2007,
Aachen, Germany, June 24–28, 2007.

Masafumi Oka, Susumu Nakata, Satoshi Tanaka,
“Preprocessing for Accelerating Convergence of Repulsiveparticle Systems for Sampling Implicit Surfaces,”
Shape Modeling International 2007,
Lyon, France, June 13–15, 2007.
(IEEE International Conference on Shape Modeling and Applications 2007 (SMI '07), pp. 232–240, 2007).

Susumu Nakata,
“An Efficient Scheme for Meshless Analysis Based on Radial Basis Functions,”
International Conference of Numerical Analysis and Applied Mathematics 2006,
Hersonissos, Greece, September 15–19, 2006.
(ICNAAM 2006 proceedings, WILEYVCH, pp.263–266, 2006).

Taku Itoh, Susumu Nakata, Takashi Kitagawa,
“An Efficient Method for Implicit Surface Reconstruction with Attributes,”
International Conference of Numerical Analysis and Applied Mathematics 2005,
Rhodes, Greece, September 16–20, 2005
(ICNAAM 2005 proceedings, WILEYVCH, pp.280–283, 2005).

Susumu Nakata, Takashi Kitagawa, Yohsuke Hosoda,
“Regularization Method by Rank Revealing QR Factorization and Its Optimization,”
Numerical Analysis and Its Applications,
Rousse, Bulgaria, June 11–15, 2000
(Lecture Notes in Computer Science 3401, SpringerVerlag, pp.608–614, 2001).