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All text and images copyrights Bionics Lab, Department of Computer l Engineering, University of California at Santa Cruz (UCSC).

The reports contained in web site are included by the contributing authors as a mechanism to ensure timely dissemination of scholarly/technical information on a non-commercial basis. Copyright and all rights therein are maintained by the authors, despite the fact they have offered this information electronically. It is understood that all individuals copying this information will adhere to the terms/ constraints invoked by each author's copyright.

If the publication is published in journal (IEEE, AMSE etc.), the following clause applies. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the Institute of Electrical and Electronics Engineers or American Society of Mechanical Engineers etc..

Bionics Lab reports may not be copied for commercial redistribution, republication, or dissemination without the explicit permission of the Bionics Laboratory at UCSC and the authors. Please contact Jacob Rosen rosen@ucsc.edu if you have any questions regarding these publications.