Abstract
This paper investigates the use of partial replication in the Database State Machine approach introduced earlier for fully replicated databases. It builds on the order and atomicity properties of group communication primitives to achieve strong consistency and proposes two new abstractions: Resilient Atomic Commit and Fast Atomic Broadcast. Even with atomic broadcast, partial replication requires a termination protocol such as atomic commit to ensure transaction atomicity. With Resilient Atomic Commit our termination protocol allows the commit of a transaction despite the failure of some of the participants. Preliminary, performance studies suggest that the additional cost of supporting partial replication can be mitigated through the use of Fast Atomic Broadcast.

Abstract
This paper presents the energy analysis of periodic gaits for multi-legged locomotion systems. The main purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes a cost function related to energy. For that objective, the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, maximum foot clearance, link lengths, body and legs mass and cycle time. In this work, we formulate three indices to quantitatively measure the performance of the walking robot namely the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators. A set of experiments reveals the influence of the locomotion variables in the proposed indices.

Abstract
This paper introduces a new upper bound to the problem of fitting identical circles into a rectangle. This problem is usually referred to as the ‘cylinder packing problem’ or ‘cylinder palletization’. In practice, it arises when it is desired to maximize the number of cylindrical items packed in an upright position onto a rectangle/pallet. The upper bound developed consists in determining the reduced pallet area by deducting a lower bound for the unused pallet area from the total area of the pallet. The upper bound for the number of identical circles to pack into the pallet is computed by the ratio reduced pallet area/circle area. The results obtained for five distinct sets of problems are analyzed and compared with previous bounds found in the published literature. International Federation of Operational Research Societies 2001.

Abstract
A method for characterizing modulators is described which can be built in large integrated circuits or systems-on-chip. The method can be used to measure gain and phase, as well as, total harmonic distortion and signal to noise and harmonic distortion ratio parameters. It is prone to be built in circuit, when computational resources such as digital signal processors or re-programmable logic are available, but can also be used in computer simulations making it easier to compare expected with measured performances.

Abstract
The paper focus dependability modelling and evaluation of fieldbus networks in the presence of permanent faults. Several architectures are analysed, considering different operating modes, topologies and fault types. Two measures of dependability are evaluated: reliability and asymptotic unavailability. The aim is to compare these various design solutions, to define essential parameters and to study their effects on fieldbus dependability.

Abstract
The practical application of data envelopment analysis (DEA) presents a range of procedural issues to be examined and resolved including those relating to the homogeneity of the units under assessment, the input/output set selected, the measurement of those selected variables and the weights attributed to them. Each of these issues can present difficulties in practice. The purpose of this paper is to highlight some of the pitfalls that have been identified in application papers under each of these headings and to suggest protocols to avoid the pitfalls and guide the application of the methodology. © 2001 Elsevier Science B.V.