I PROVIDING SERVICE-BASED PERSONALIZATION in AN

Total Page:16

File Type:pdf, Size:1020Kb

I PROVIDING SERVICE-BASED PERSONALIZATION in AN PROVIDING SERVICE-BASED PERSONALIZATION IN AN ADAPTIVE HYPERMEDIA SYSTEM by Michael V. Yudelson Eng. System Analyst, Ivanovo State Power University, 2001 Candidate of Tech. Sci., Ivanovo State Power University, 2004 Submitted to the Graduate Faculty of School of Information Sciences in partial fulfillment of the requirements for the degree of Doctor of Philosophy University of Pittsburgh 2010 i UNIVERSITY OF PITTSBURGH SCHOOL OF INFORMATION SCIENCES This dissertation was presented by Michael V. Yudelson It was defended on September 17, 2010 and approved by Daqing He, Associate Professor, School of Information Sciences Heiko Spallek, Associate Professor, School of Dental Medicine Michael Spring, Associate Professor, School of Information Sciences Vladimir Zadorozhny, Associate Professor, School of Information Sciences Dissertation Advisor: Peter Brusilovsky, Associate Professor, School of Information Sciences ii Copyright © by Michael V. Yudelson 2010 iii PROVIDING SERVICE-BASED PERSONALIZATION IN AN ADAPTIVE HYPERMEDIA SYSTEM Michael V. Yudelson University of Pittsburgh, 2010 Adaptive hypermedia is one of the most popular approaches of personalized information access. When the field started to emerge, the expectation was that soon nearly all published hypermedia content could be adapted to the needs, preferences, and abilities of its users. However, after a decade and a half, the gap between the amount of total hypermedia content available and the amount of content available in a personalized way is still quite large. In this work we are proposing a novel way of speeding the development of new adaptive hypermedia systems. The gist of the approach is to extract the adaptation functionality out of the adaptive hypermedia system, encapsulate it into a standalone system, and offer adaptation as a service to the client applications. Such a standalone adaptation provider reduces the development of adaptation functionality to configuration and compliance and as a result creates new adaptive systems faster and helps serve larger user populations with adaptively accessible content. To empirically prove the viability of our approach, we developed PERSEUS – server of adaptation functionalities. First, we confirmed that the conceptual design of PERSEUS supports realization of a several of the widely used adaptive hypermedia techniques. Second, to demonstrate that the extracted adaptation does not create a significant computational bottleneck, we conducted a series of performance tests. The results show that PERSEUS is capable of providing a basis for implementing computationally challenging adaptation procedures and compares well with alternative, not-encapsulated adaptation solutions. As a result, even on modest hardware, large user populations can be served content adapted by PERSEUS. iv TABLE OF CONTENTS 1.0 INTRODUCTION................................................................................................. 1 1.1 WAYS TO ENHANCE ADAPTIVE HYPERMEDIA SYSTEMS .............................. 3 1.1.1 Content Authoring Support Tools ............................................................................... 3 1.1.2 Development Support Tools ....................................................................................... 5 1.2 PROBLEM STATEMENT, GOALS, AND HYPOTHESES ....................................... 6 1.3 DISSERTATION OUTLINE .......................................................................................... 9 2.0 BACKGROUND AND RELATED WORK ..................................................... 10 2.1 ADAPTIVE HYPERMEDIA SYSTEMS ..................................................................... 10 2.2 METHODS OF ADAPTIVE HYPERMEDIA ............................................................ 12 2.2.1 Direct Navigation ...................................................................................................... 13 2.2.2 Link Sorting .............................................................................................................. 14 2.2.3 Link Hiding ............................................................................................................... 15 2.2.4 Link Annotation ........................................................................................................ 16 2.2.5 Link Generation ........................................................................................................ 17 2.3 ADAPTATION REASONING ENGINES ................................................................... 19 2.4 ARCHITECTURE OF THE AHS ................................................................................ 22 2.4.1 Models ...................................................................................................................... 23 2.4.2 Processes And Data Streams ..................................................................................... 24 2.4.3 The Orchestration...................................................................................................... 28 v 2.5 DECOMPOSITION OF AHS AND COMPONENT REUSE .................................... 30 2.5.1 User Modeling And Its Separation From The AHS .................................................. 31 2.5.2 Separation Of The Content Model: Open-Corpus AHS ........................................... 33 2.5.3 Adaptation In The AHS: The Emerging Split ........................................................... 36 2.5.4 Summary ................................................................................................................... 41 2.6 METHODS OF ASSESSING ADAPTIVE SYSTEMS .............................................. 44 2.6.1 Evaluating Usability Of The AS/AHS ...................................................................... 44 2.6.2 Evaluating The Value of Adaptation: Holistic Approach ......................................... 46 2.6.3 Layered Evaluation of The Value of Adaptation ...................................................... 48 2.6.4 Performance Evaluation ............................................................................................ 51 2.6.5 Summary ................................................................................................................... 56 3.0 ADAPTATION FUNCTIONALITY AS STANDALONE SERVICE ........... 58 3.1 INTRODUCTION .......................................................................................................... 58 3.2 PERSEUS ........................................................................................................................ 59 3.3 PERSEUS IMPLEMENTATION ................................................................................. 63 3.4 CONCEPTUAL EVALUATION OF PERSEUS ........................................................ 67 3.4.1 Support Of Known Adaptation Techniques .............................................................. 67 3.4.2 Composition Of The Adaptation Process.................................................................. 71 3.5 ADAPTATION TECHNIQUES IMPLEMENTED IN PERSEUS ........................... 73 3.5.1 Social Navigation Support Adaptation Service ........................................................ 74 3.5.2 Topic-Based Navigation Support Adaptation Service .............................................. 77 3.5.3 Concept-Based Navigation Support Personalization Service ................................... 79 3.5.4 Link Generation (Recommendation) Personalization Service .................................. 84 3.6 PRE-STUDY OF PERSEUS’S SOCIAL NAVIGATION ADAPTATION .............. 85 3.6.1 Pilot-Test ................................................................................................................... 86 vi 3.6.2 Experimental Setup And Data Collection ................................................................. 86 3.6.3 Results ....................................................................................................................... 89 3.6.4 Pre-study Limitations ................................................................................................ 92 3.6.5 Pre-Study Summary .................................................................................................. 94 4.0 RESEARCH DESIGN ........................................................................................ 95 4.1 EXPERIMENT OVERVIEW ....................................................................................... 95 4.2 EXPERIMENTAL SYSTEMS SETUP ...................................................................... 101 4.2.1 Data Collection And Implementation ..................................................................... 101 4.2.2 Data Model And Configuration .............................................................................. 105 4.3 HARDWARE AND SOFTWARE .............................................................................. 116 4.4 COMPREHENSIVE HYPOTHESES ........................................................................ 117 4.4.1 Parallel Processing Capacity-planning/Soak Tests ................................................. 117 4.4.2 Baseline Comparison Sequential Processing Benchmark Tests ............................. 118 4.4.3 Size Of The Supported User Population ................................................................. 121 4.4.4 Number Of Requests In The System ...................................................................... 122 5.0 RESULTS .......................................................................................................... 123 5.1 PARALLEL PROCESSING
Recommended publications
  • Authoring Adaptive Hypermedia Using Ontologies
    INT J COMPUT COMMUN, ISSN 1841-9836 Vol.7 (2012), No. 2 (June), pp. 285-301 Authoring Adaptive Hypermedia using Ontologies H. Jung, S. Park Hyosook Jung, Seongbin Park Korea University, Anam-dong, Seongbuk-gu, Seoul, Korea {est0718, hyperspace}@korea.ac.kr Abstract: Adaptive hypermedia has been developed to overcome the prob- lems of disorientation by providing personalized presentation and link struc- ture. An adaptive hypermedia system consists of an adaptation model, a domain model, and a user model. The user model describes various aspects of a user such as interests, knowledge, preferences, etc. The domain model describes the whole knowledge accessible in adaptive hypermedia. The adap- tation model consists of adaptation rules that define both how to generate the personalized presentation and update the user model [12]. Authoring adaptive hypermedia typically starts by designing a domain model so that apprropiate adaptation model and user model can be created based the domain model. While there are authoring tools developed for creating domain model of an adaptive hypermedia, authors need to manually create basic concepts as well as their relationships for a domain of interests. In this paper, we present a system that transforms an ontology into the domain and adaptation model of adaptive hypermedia so that the authors can generate adaptive hypermedia easily. The system transforms classes and relationships between the classes de- fined in OWL ontology [7] into concepts and relationships between the concepts defined in the domain model of AHA! system which is one of best known open source general-purpose adaptive hypermedia systems [1]. Using our system, authors can utilize well-defined knowledge structure in ontologies for author- ing adaptive hypermedia.
    [Show full text]
  • Adaptive Hypermedia for Education and Training
    Adaptive Hypermedia for Education and Training Peter Brusilovsky School of Information Sciences, University of Pittsburgh Pittsburgh, PA 15260, USA [email protected] SUMMARY Adaptive hypermedia is a relatively new direction in research at the crossroads of hypermedia and user modeling. Adaptive hypermedia systems build a model of the goals, preferences and knowledge of each individual user and use this model throughout the interaction with the user, in order to adapt to the needs of that user. Educational hypermedia was one of the first application areas for adaptive hypermedia and is currently one of the most popular and well-investigated. The goal of this presentation is to explain the nature and the mechanism of adaptation in educational adaptive hypermedia and to provide several examples of using adaptive hypermedia in educational and training applications of different natures and complexity. KEYWORDS: Adaptive Hypermedia, Web-based Education, Intelligent Tutoring System, E-learning, Training, Student Model, Personalization INTRODUCTION Adaptive hypermedia (AH) is an alternative to the traditional “one-size- fits-all” approach in the development of hypermedia systems. Adaptive hypermedia (AH) systems build a model of the goals, preferences and knowledge of each individual user; this model is used throughout the interaction with the user in order to adapt to the needs of that particular user (Brusilovsky, 1996b). For example, a student in an adaptive educational hypermedia system will be given a presentation that is adapted specifically to his or her knowledge of the subject (De Bra & Calvi, 1998; Hothi, Hall & Sly, 2000) as well as a suggested set of the most relevant links to proceed further (Brusilovsky, Eklund & Schwarz, 1998; Kavcic, 2004).
    [Show full text]
  • A Web Based System Design for Creating Content in Adaptive
    Malaysian Online Journal of Educational Technology 2020 (Volume 8 - Issue 3 ) A Web Based System Design for Creating [1] [email protected], Gazi University, Faculty of Gazi Content in Adaptive Educational Education, Ankara Hypermedia and Its Usability [2] [email protected], Gazi University, Faculty of Gazi Education, Ankara Yıldız Özaydın Aydoğdu [1], Nursel Yalçın [2] http://dx.doi.org/10.17220/mojet.2020.03.001 ABSTRACT Adaptive educational hypermedia is an environment that offers an individualized learning environment according to the characteristics, knowledge and purpose of the students. In general, adaptive educational hypermedia, a user model is created based on user characteristics and adaptations are made in terms of text, content or presentation according to the created user model. Different contents according to the user model are shown as much as user model creation in adaptive educational hypermedia. The development of applications that allow the creation of adaptive content according to the features specified in the user model has great importance in ensuring the use of adaptive educational hypermedia in different contexts. The purpose of this research is to develop a web- based application for creating content in adaptive educational hypermedia and to examine the usability of the developed application. In order to examine the usability of the application developed in the scope of the study, a field expert opinion form was developed and opinions were asked about the usability of the application from 7 different field experts. As the result of the opinions, it has been seen that the application developed has a high usability level. In addition, based on domain expert recommendations, system revisions were made and the system was published at www.adaptivecontentdevelopment.com.
    [Show full text]
  • Dynamic Adaptive Hypermedia Systems for E-Learning Elvira Popescu
    Dynamic adaptive hypermedia systems for e-learning Elvira Popescu To cite this version: Elvira Popescu. Dynamic adaptive hypermedia systems for e-learning. Education. Université de Technologie de Compiègne, 2008. English. tel-00343460 HAL Id: tel-00343460 https://tel.archives-ouvertes.fr/tel-00343460 Submitted on 10 Dec 2008 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. DOCTORAT TIS Cotutelle de thèse – Nom de l’établissement : Université de Craiova Label européen (nom du pays) : Roumanie Thèse financée par : l’Université de Craiova, Roumanie Dynamic adaptive hypermedia systems for e-learning Directeurs de Thèse (NOM - Prénom) : TRIGANO Philippe (NOM - Prénom) : RASVAN Vladimir. Date, heure et lieu de soutenance : 15 novembre 2008, 12h00, Université de Craiova, Roumanie NOM :Popescu ....................................................... Prénom : Elvira ................................................................ Courriel : [email protected] MEMBRES DU JURY - TRIGANO Philippe, Professeur des Universités (directeur de thèse) Spécialité:
    [Show full text]
  • Internet Explorer Users Are Required to Add the Portal URL to Trusted Sites
    CLA Client Portal Browser and Silverlight FAQs 1. Question: I am receiving an “Error 500” when clicking the link to access the CLA Document Portal. Resolution: Verify with your IT department that the portal is not blocked by any internal monitoring or protection applications. 2. Question: How do I know if my computer has Microsoft Silverlight Installed? Resolution: The first time you try and login to the portal you will be prompted to install Silverlight from Microsoft’s website if you don’t have it already installed. The installation typically takes less than one minute and is completely safe. http://www.microsoft.com/getsilverlight/Get-Started/Install/Default.aspx If you cannot, or prefer not to, install Silverlight on your machine, a simplified version of the document portal that does not require Silverlight is available. Click on the Take me to the non- Silverlight login on the CLA Document Portal page (www.claconnect.com/docportal). 3. Question: I cannot access the CLA Document Portal. (Server error/Page not found) Resolution: Check that you are using a Microsoft Silverlight 4 compatible browser on all PC’s or MAC. A complete list of browsers and operating systems that support Silverlight 4 can be found at http://www.microsoft.com/getsilverlight/locale/en-us/html/installation-win-SL4.html Please note: Internet Explorer users are required to add the portal URL to Trusted Sites. Adding to Trusted Sites Internet Explorer settings 1. Open Internet Explorer and browse to https://portal.cchaxcess.com/Portal/. 2. In Internet Explorer, select Tools / Internet Options; then select the Security tab and click Trusted Sites and then Sites.
    [Show full text]
  • Adaptive Hypertext and Hypermedia : Proceedings of the 2Nd Workshop, Pittsburgh, Pa., June 20-24, 1998
    Adaptive hypertext and hypermedia : proceedings of the 2nd workshop, Pittsburgh, Pa., June 20-24, 1998 Citation for published version (APA): Brusilovsky, P., & De Bra, P. M. E. (Eds.) (1998). Adaptive hypertext and hypermedia : proceedings of the 2nd workshop, Pittsburgh, Pa., June 20-24, 1998. (Computing science reports; Vol. 9812). Technische Universiteit Eindhoven. Document status and date: Published: 01/01/1998 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal.
    [Show full text]
  • Restful User Model API for the Exchange of User's Preferences
    RESTful User Model API for the Exchange of User’s Preferences among Adaptive Systems Martin Bal´ık and Ivan Jel´ınek Department of Computer Science and Engineering, Faculty of Electrical Engineering, Czech Technical University, Karlovo n´amˇest´ı13, 121 35 Prague, Czech Republic Keywords: Adaptive Hypermedia, Personalization, User Model, Data Exchange, REST API. Abstract: Adaptive Hypermedia Systems observe users’ behavior and provide personalized hypermedia. Users interact with many systems on the Web, and each user-adaptive system builds its own model of user’s preferences and characteristics. There is a need to share the personal information, and the current research is exploring ways to share user models efficiently. In this paper, we present our solution for personal data exchange among multiple hypermedia applications. First, we designed a communication interface based on the REST architectural style, and then, we defined data structures appropriate for the data exchange. Our user model is ontology-based and therefore, the data from multiple providers can be aligned to achieve interoperability. 1 INTRODUCTION share the personal information and keep it synchro- nized between all applications used by the person. Hypermedia applications on the World Wide Web Sharing a User Model is a required, but a very (WWW) are used by people on a daily basis. Peo- challenging task. Fortunately, the users are willing ple use applications intended for work, entertainment, to share personal information (Kobsa and Teltzrow, communication, learning, etc. To improve usability 2006; Gross and Acquisti, 2005). It is important and facilitate the orientation within the large amount to find a balance between information revelation and of information, many of the applications provideauto- personal privacy.
    [Show full text]
  • Hypervideo and Annotations on the Web
    Hypervideo and Annotations on the Web Madjid Sadallah Olivier Aubert Yannick Prie´ DTISI - CERIST LIRIS - Universite´ Lyon 1 LIRIS - Universite´ Lyon 1 Alger, Algerie´ UMR 5205 CNRS UMR 5205 CNRS Email: [email protected] Email: [email protected] Email: [email protected] Abstract—Effective video-based Web information system de- the hypermedia system. Hypervideo addresses this issue by ployment is still challenging, while the recent widespread of a specialization of hypermedia centered on interactive video. multimedia further raises the demand for new online audiovisual We define hypervideo as being an interactive video-centric document edition and presentation alternatives. Hypervideo, a specialization of hypermedia focusing on video, can be used on the hypermedia document built upon an audiovisual content - a set Web to provide a basis for video-centric documents and to allow of video objects -. Several kinds of related data are presented more elaborated practices of online video. In this paper, we pro- within the document in a time synchronized way to augment pose an annotation-driven model to conceptualize hypervideos, the audiovisual part around which the presentation is organized promoting a clear separation between video content/metadata in space and time. and their various potential presentations. Using the proposed model, features of hypervideo are grafted to wider video- The articulation of video content with navigation facilities based Web documents in a Web standards-compliant manner. introduces new ways for developing interfaces, rendering the The annotation-driven hypervideo model and its implementation content and interacting with the document. By supplying offer a general framework to experiment with new interaction spatio-temporal behaviors to links, hypervideos allow address- modalities for video-based knowledge communication on the Web.
    [Show full text]
  • A Case-Based Engine to Create Dynamic Content Adapting Users’ and Context Profiles
    School of Mathematics and Systems Engineering Reports from MSI - Rapporter från MSI A Case-Based Engine to Create Dynamic Content Adapting Users’ and Context Profiles Daniel Almirón Fuentes Didac Gil de la Iglesia June MSI 2004 Växjö University SE-351 95 VÄXJÖ Abstract Nowadays, we can find many interactive applications and mobile services accessible everywhere. Usually, these services have been designed to serve a unique target population, independent for instance; of the kind of devices the users have or the particular situation the users are encountered. In many cases, these services do not provide exactly the type of information people are expecting and looking for. Another related problem in this particular domain concerns the way information is presented, both from a content and a presentation perspective. Many times, although the content may fit our expectations, the way this information is presented does not fit the proper device, neither for our actual situation. Those are the particular problems we want to tackle in this work, the development of more flexible applications and services that could adapt to a particular user in different environments. The scope of this thesis relates to the field of adaptive hypermedia. Our main goal is to explore, develop and implement an approach that will let adapt a number of mobile services to new situations, depending both on the user’s and context’s profiles. In this report we present the ideas and results of the work we have been conducting during the last four months. Keywords: Adaptive Hypermedia, Case-Based Reasoning, Artificial Intelligence, Context Awareness, CC/PP, UAProf, Mobility, Apache Cocoon, XML, Information Retrieval, Human Computer Interaction.
    [Show full text]
  • Hypertext and Hypermedia Digital Multimedia, 2Nd Edition Nigel Chapman & Jenny Chapman Chapter 12
    Hypertext and Hypermedia Digital Multimedia, 2nd edition Nigel Chapman & Jenny Chapman Chapter 12 This presentation © 2004, MacAvon Media Productions 12 384 Hypertext • Text augmented with links • Link: pointer to another piece of text in same or different document • Navigational metaphor • User follows a link from its source to its destination, usually by clicking on source with the mouse • Use browser to view and navigate hypertext © 2004, MacAvon Media Productions 12 385–386 Cursory History • Memex – V Bush, 1945 • Concept of linked documents; photo- mechanical realization never implemented • Xanadu – Ted Nelson, late 1960s/early 1970s • Intended as global system • Hypercard – Apple, 1987 • Shipped with every Mac; popularized concept • World Wide Web – 1992 © 2004, MacAvon Media Productions 12 386–388 Non-linearity • Hypertext not usually read linearly (from start to finish) • Links encourage branching off • History and back button permit backtracking • Not an innovation, but the immediacy of following links by clicking creates a different experience from traditional non-linearity (e.g. cross-references in encyclopedia) © 2004, MacAvon Media Productions 12 389 Links • Simple unidirectional links • Connect single point on one page with a point on another page (e.g. WWW) • Extended links • Regional links (ends may be regions within a page) • Bidirectional links (may be followed in both directions) • Multilinks (may have more than two ends) © 2004, MacAvon Media Productions 12 390–391 Browsing & Searching • Browsing – retrieve information
    [Show full text]
  • Webvise: Browser and Proxy Support for Open Hypermedia Structuring Mechanisms on the WWW
    Webvise: Browser and Proxy Support for Open Hypermedia Structuring Mechanisms on the WWW Kaj Grønbæk, Lennert Sloth, & Peter Ørbæk University of Aarhus Department of Computer Science, Åbogade 34, 8200 Århus N, Denmark. Email: {kgronbak, les, poe}@daimi.au.dk Abstract This paper discusses how to augment the WWW with an open hypermedia service (Webvise) that provides structures such as contexts, links, annotations, and guided tours stored in hypermedia databases external to the Web pages. This includes the ability for users collaboratively to create links from parts of HTML Web pages they do not own and support for creating links to parts of Web pages without writing HTML target tags. The method for locating parts of Web pages can locate parts of pages across frame hierarchies and it is also supports certain repairs of links that breaks due to modified Web pages. Support for providing links to/from parts of non-HTML data, such as sound and movie will be possible via interfaces to plug-ins and Java based media players. The hypermedia structures are stored in a hypermedia database, developed from the Devise Hypermedia framework, and the service is available on the Web via an ordinary URL. The best user interface for creating and manipulating the structures is currently provided for the Microsoft Internet Explorer 4.x browser through COM integration that utilize the Explorers DOM representation of Web-pages. But the structures can also be manipulated and used via special Java applets and a pure proxy server solution is provided for users who only need to browse the structures.
    [Show full text]
  • User Models for Adaptive Hypermedia and Adaptive Educational Systems
    1 User Models for Adaptive Hypermedia and Adaptive Educational Systems Peter Brusilovsky1 and Eva Millán2 1School of Information Sciences University of Pittsburgh, Pittsburgh PA 15260, USA 2 ETSI Informática University of Malaga [email protected], [email protected] Abstract. One distinctive feature of any adaptive system is the user model that represents essential information about each user. This chapter complements other chapters of this book in reviewing user models and user modeling approaches applied in adaptive Web systems. The presentation is structured along three dimensions: what is being modeled, how it is modeled, and how the models are maintained. After a broad overview of the nature of the information presented in these various user models, the chapter focuses on two groups of approaches to user model representation and maintenance: the overlay approach to user model representation and the uncertainty-based approach to user modeling. 1.1 Introduction Adaptive hypermedia and other adaptive Web systems (AWS) belong to the class of user- adaptive software systems [174]. One distinctive feature of an adaptive system is a user model. The user model is a representation of information about an individual user that is essential for an adaptive system to provide the adaptation effect, i.e., to behave differently for different users. For example, when the user searches for relevant information, the system can adaptively select and prioritize the most relevant items (see Chapter 6 of this book [125]). When the user navigates from one item to another, the system can manipulate the links (e.g., hide, sort, annotate) to provide adaptive navigation support (see Chapter 8 of this book [21]).
    [Show full text]