wireless-earth
  About Jörg Roth

Prof. Dr. habil. Jörg Roth Nuremberg Institute of Technology Keßlerplatz 12 D 90489 Nuremberg Germany Tel.: +49 911/5880-1169 Fax: +49 911/5880-5666 email: JoergRothwireless-earthorg web:   http://www.wireless-earth.de   Page at the Nuremberg Institute of Technology

Curriculum Vitae

Research

HomeRun

Carbot

Bugbot

Double Bounding Boxes

Hybris (until 2009)

Nimbus (until 2006)

The Mobile research page

DreamTeam (until 2003)

Organization of Workshops and Conferences (from 2011)

• PC member of the conference "International Conference on Autonomic and Autonomous Systems (ICAS) 2024", March 10-14, 2024, Athens, Greece
• PC member of the conference "International Conference on Autonomic and Autonomous Systems (ICAS) 2023", March 13-17, 2023, Barcelona, Spain
• PC member of the conference "International Conference on Autonomic and Autonomous Systems (ICAS) 2022", May 22-26, 2022, Venice, Italy
• PC member of the conference "Wireless Information Systems 2022 (WINSYS 2022)", July 11-13, 2022, Lisbon, Portugal
• PC member of the conference "ADAPTIVE 2022", April 24-28, 2022, Barcelona, Spain
• PC member of the conference "Innovative Internet Community Services 2022 (I⁴CS 2022)", June 13-15, 2022, Delft, NL
• PC member of the conference "WWW/Internet 2021", Oct. 13-15, 2021, Online
• PC member of the conference "Innovative Internet Community Services 2021 (I⁴CS 2021)", May 25-28, 2021, Bamberg, Germany
• PC member of the conference "Wireless Information Systems 2021 (WINSYS 2021)", July 7-9, 2021, Paris, France
• PC member of the conference "ADAPTIVE 2021", April 18-22, 2021, Porto, Portugal
• PC member of the conference "WWW/Internet 2020", Nov. 18-20, 2020, Online
• PC member of the conference "Wireless Information Systems 2020 (WINSYS 2020)", Juli 8-10 2020, Paris, France
• PC member of the conference "International Conference on Autonomic and Autonomous Systems (ICAS) 2020", Sept. 27-Oct. 1, 2020, Lisbon, Portugal
• PC member of the conference "ADAPTIVE 2020", April 26-30, 2020, Nice, France
• PC member of the conference "Innovative Internet Community Services 2020 (I⁴CS 2020)", Jan. 12-15, 2020, Bhubaneswar, India
• PC member of the conference "WWW/Internet 2019", Nov. 7-9, 2019, Cagliari, Italy
• PC member of the conference "Innovative Internet Community Services 2019 (I⁴CS 2019)", June 24-26, 2019, Wolfsburg, Germany
• PC member of the conference "Wireless Information Systems 2019 (WINSYS 2019)", Juli 26-28, 2019, Prague, Czech Republic
• PC member of the conference "14^th International Conference on Internet and Web Applications and Services (ICIW 2019)", Juli 28 - Aug. 1, 2019, Nice, France
• PC member of the conference "WWW/Internet 2018", Oct. 21-23, 2018, Budapast, Hungary
• PC member of the conference "Innovative Internet Community Services 2018 (I⁴CS 2018)", June 18-20, 2018, Žilina, Slovakia
• PC member of the conference "Wireless Information Systems 2018 (WINSYS 2018)", July 26-28, 2018, Porto, Portugal
• PC member of the conference "13^th International Conference on Internet and Web Applications and Services (ICIW 2018)", July, 22-2 2018, Barcelona, Spain
• PC member of the conference "WWW/Internet 2017", Oct. 18-20, 2017, Algarve, Portugal
• PC member of the conference "Innovative Internet Community Services 2017 (I⁴CS 2017)", June 26-28, 2017, Darmstadt, Germany
• PC member of the conference "12^th International Conference on Internet and Web Applications and Services (ICIW 2017)", June 25-29, 2017, Venice, Italy
• PC member of the conference "Wireless Information Systems 2017 (WINSYS 2017)", July 26-28, 2017, Madrid, Spain
• PC member of the conference "WWW/Internet 2016", Oct. 28-30, 2016, Mannheim, Germany
• PC member of the conference "11^th International Conference on Internet and Web Applications and Services (ICIW 2015)", May 22-26, 2016, Valencia, Spain
• PC member of the conference "Wireless Information Systems 2016 (WINSYS 2016)", July 26-28, 2016, Lisbon, Portugal
• PC member of the conference "Innovative Internet Community Services 2016 (I⁴CS 2016)", June 26-29, 2016, Vienna, Austria
• PC member of the conference "MMS 2016", March 9-11, 2016, Ilmenau, Germany
• PC member of the conference "WWW/Internet 2015", Oct. 24-26, 2015, Dublin, Ireland
• PC member of the conference "Wireless Information Systems 2015 (WINSYS 2015)", July 20-22, 2015, Colmar, France
• Chair of the conference 15^th International Conference on Innovations for Community Services (I4CS) July 8-10, 2015, Nuremberg, Germany
• PC member of the conference "10^th International Conference on Internet and Web Applications and Services (ICIW 2015)", June 21-26, 2015, Brussels, Belgium
• PC member of the conference "WWW/Internet 2014", Oct. 25-27, 2014, Porto, Portugal
• PC member of the conference "Wireless Information Systems 2014 (WINSYS 2014)", Sept. 2.-4, 2014, Vienna, Austria
• PC member of the conference "9^th International Conference on Internet and Web Applications and Services (ICIW 2014)", July 20-24, 2014, Paris, France
• Programm chair of the "IADIS International Conference Theory and Practice in Modern Computing 2014", July 15-17, 2014, Lisbon, Portugal
• PC member of the conference "Innovative Internet Community Services 2014 (I⁴CS 2014)", June 4-6, 2014, Reims, France
• PC member of the workshop "2^nd Workshop on Mobile and Wireless 2013", Dec. 11-13, 2013, Jeju National University International Center, Jeju Island, Korea
• Programm chair of the "IADIS International Conference Theory and Practice in Modern Computing 2013", July 22-24, 2013, Prague, Czech Republic
• PC member of the conference "MMS 2014", February 26-28, 2014, Paderborn, Germany
• PC member of the conference "MMS 2013", June 10, 2013, Berlin, Germany
• PC member of the conference "WWW/Internet 2013", Oct. 22-25, 2013, Fort Worth, Texas, USA
• PC member of the conference "Innovative Internet Community Services 2013 (I²CS 2013)", June 19-21, 2013, Iserlohn, Germany
• PC member of the conference "Wireless Information Systems 2013 (WINSYS 2013)", July 29-31 2013, Reykjavík, Island
• PC member of the conference "WWW/Internet 2012", Oct. 18-21, 2012, Madrid, Spain
• Programm chair of the "IADIS International Conference Theory and Practice in Modern Computing 2012", July 17-19, 2012, Lisbon, Portugal
• PC member of the conference "Innovative Internet Community Services 2012 (I²CS 2012)", June 13-15, 2012, Trondheim, Norway
• PC member of the conference "Wireless Information Systems 2012 (WINSYS 2012)", July 24-27, 2012, Rome, Italy
• PC member of the conference "MMS 2012", 29.02.-02.03.2012, Braunschweig, Germany
• PC member of the conference "WWW/Internet 2011", Nov. 5-8, 2011, Rio de Janeiro, Brazil
• Programm chair of the "IADIS International Conference Wireless Applications and Computing 2011 (WAC 2011)", July 20-22, 2011, Rome, Italy
• PC member of the conference "Wireless Information Systems 2011 (WINSYS 2011)", July 18-21, 2011, Seville, Spain
• PC member of the conference "Innovative Internet Community Services 2011 (I²CS 2011)", June 15-17, 2011, Berlin, Germany
• PC member of the conference "MMS 2011", Feb. 28, 2010, Kaiserslautern, Germany

Textbooks

Jörg Roth: Mobile Computing 2. Auflage, dpunkt Heidelberg, ISBN 3-89864-366-2, Sept. 2005

Jörg Roth: Prüfungstrainer Rechnernetze Vieweg+Teubner, ISBN 978-3-8348-0925-4, Feb. 2010

Publications

Jörg Roth: Trajectory planning for narrow environments that require changes of driving directions Journal of Automation, Mobile Robotics & Intelligent Systems, Vol. 15, No. 4, 2021 (published 2022-09-28), 18-29, DOI: 10.14313/JAMRIS/4-2021/23

Jörg Roth: Continuous-Curvature Trajectory Planning Journal of Automation, Mobile Robotics & Intelligent Systems, Vol. 15, No. 1, 2021, 9-23, DOI: 10.14313/JAMRIS/1-2021/2

Jörg Roth: Trajectory Regulation for Walking Multipod Robots International Journal on Advances in Systems and Measurements, Vol 12 No 3 & 4, year 2019, 265 - 278

Jörg Roth: Systematic and Complete Enumeration of Statically Stable Multipod Gaits Journal of Automation, Mobile Robotics & Intelligent Systems, Vol. 12, No. 4, 2018, 42-50, DOI: 10.14313/JAMRIS_4-2018/24

Jörg Roth: Regulated Walking for Multipod Robots ADAPTIVE 2019 – The Eleventh International Conference on Adaptive and Self-Adaptive Systems and Applications, May 5-9, 2019, Venice, Italy, ISBN: 978-1-61208-706-1, 15-20

Jörg Roth: A Viterbi-like Approach for Trajectory Planning with Different Maneuvers IAS-15, 15th International Conference on Intelligent Autonomous Systems, June 11-15 2018, Baden-Baden, Springer, ISBN 978-3-030-01370-7, 3-14

Jörg Roth: Automatic Generation of Meaningful Virtual Direction Markers in Road Networks in Frank Fuchs-Kittowski, Jörg Roth, Proceedings of the 14th Workshop on "Location-based applications and services", Sept. 21-22, 2017, Berlin, CEUR-WS, Vol-2020, ISSN 1613-0073

Jörg Roth: Low-Memory Spatial Indexing in Lars Fischer, Jörg Roth (eds.): 12. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Sept. 17-18 2015, University Siegen, Logos Verlag, 2017, ISBN 978-3-8325-4395-2, 7-16

Jörg Roth: Extracting Wikipedia Data to Enrich Spatial Information 17th International Conference on Innovations for Community Services (I4CS), Darmstadt, Germany, June 26-28 2017, Springer CCIS 717, 3-17 Winner of the Best Paper Award

Jörg Roth: Efficient Computation of Bypass Areas Gartner, Huang (eds): Progress in Location-Based Services 2016, Proc. of the 13th International Conference on Location-Based Services, Vienna, Austria, Nov. 14–16 2016, Springer LNG&C, 193-210

Jörg Roth: The Offline Map Matching Problem and its Efficient Solution 16th International Conference on Innovations for Community Services (I4CS), Vienna, Austria, June 27-29 2016 Springer CCIS 648, 23-38 Winner of the Best Paper Award

Jörg Roth: Efficient many-to-many path planning and the Traveling Salesman Problem on road networks International Journal of Knowledge-based and Intelligent Engineering Systems 20 (2016), IOS Press, 135–148

Jörg Roth: Fast Spatio-Symbolic Searching in Huge Geo Databases in Volkmar Schau, Gerald Eichler, Jörg Roth (eds.): 11. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Sept. 18-19, 2014, Telekom Innovation Laboratories, Darmstadt, Germany, Logos Verlag, 2015, ISBN 978-3-8325-4135-4, 131-140

Jörg Roth: Generating Meaningful Location Descriptions International Conference on Innovations for Community Services (I4CS), July 8-10, 2015, Nuremberg (Germany), IEEE xplore, 30-37

Jörg Roth: A Novel Development Paradigm for Event-based Applications International Conference on Innovations for Community Services (I4CS), July 8-10, 2015, Nuremberg (Germany), IEEE xplore, 69-75

Jörg Roth: From Weak to Strong Geo Object Classification in Schau V., Eichler G., Roth J. (eds.): 10. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", 16.-17. Sept. 2013, FSU Jena, Logos Verlag Berlin, 2014, ISBN 978-3-8325-3813-2, 3-12

Jörg Roth: Predicting Route Targets Based on Optimality Considerations International Conference on Innovations for Community Services (I4CS), Reims (France) June 4-6, 2014, IEEE xplore, 61-68

Jörg Roth: Combining Symbolic and Spatial Exploratory Search – the Homerun Explorer Innovative Internet Computing Systems (I2CS), Hagen (Germany), June 19-21, 2013, Fortschritt-Berichte VDI, Reihe 10, Nr. 826, 94-108 Winner of the Best Paper Award

Jörg Roth: A Spatial Hashtable Optimized for Mobile Storage on Smart Phones in Werner M., Haustein M. (eds.): 9. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", 13.-14. Sept. 2012, TU Chemnitz, Universitätsverlag Chemnitz, 2013, ISBN 978-3-941003-77-4, 71-84

Jörg Roth: Modularisierte Routenplanung mit der donavio-Umgebung in Werner M., Haustein M. (eds.): 9. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", 13.-14. Sept. 2012, TU Chemnitz, Universitätsverlag Chemnitz, 2013, ISBN 978-3-941003-77-4, 119-131

Jörg Roth: Sharing Personal Symbolic Locations between Friends – A Location Service for Small Communities Innovative Internet Computing Systems (I2CS), Trondheim, Norway, June 13-15, 2012, GI Lecture Notes in Informatics, Vol. P-204, 17-27

Jörg Roth: Developing a context-aware calendar app using a mobile context platform in Werner M., Roth J. (eds.): 8. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Logos-Verlag, 2011, ISBN 987-3-8325-3041-9, 11-22

Jörg Roth: Context-aware Apps with the Zonezz Platform ACM MobiHeld 2011, Proceedings of the 3rd ACM SOSP Workshop on Networking, Systems, and Applications on Mobile Handhelds, Cascais (Portugal), Oct. 23, 2011

Jörg Roth: An O(n) approximation for the double bounding box problem IADIS International Conference Informatics 2011, Rome (Italy), July 20-22, 2011, 27-34

Jörg Roth: Der Einsatz von OpenStreetMap-Daten in der akademischen Informatik-Ausbildung in Käpper A., Roth J. (eds.): 7. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Logos-Verlag, 2011, ISBN 987-3-8325-2935-2, 65-72

Jörg Roth: Moving Geo Databases to Smart Phones – An Approach for Offline Location-based Applications Innovative Internet Computing Systems (I2CS), Berlin (Germany), June 15-17, 2011, GI Lecture Notes in Informatics, Vol. P-186, 228-238

Jörg Roth: Übernahme von Geodatenbeständen aus Open Street Map und Bereitstellung einer effizienten Zugriffsmöglichkeit für ortsbezogene Dienste Praxis der Informationsverarbeitung und Kommunikation (PIK), Vol. 13, No. 4, 2010, 268-277, ISSN 0930-5157

Jörg Roth: Die HomeRun-Plattform für ortsbezogene Dienste außerhalb des Massenmarktes in Zipf A., Lanig S., Bauer M. (eds.) 6. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Heidelberger Geographische Bausteine Heft 18, 2010, ISBN 987-3-88570-818-6, 1-9

Jörg Roth: The Extended Split Index to Efficiently Store and Retrieve Spatial Data With Standard Databases IADIS International Conference Applied Computing 2009, Rome (Italy), Nov. 19-21, 2009, Vol. I, ISBN 978-972-8924-97-3, 85-92

Jörg Roth: Verwaltung geographischer Daten mit Hilfe eines Add-ons für Standard-Datenbanken Verwaltung, Analyse und Bereitstellung kontextbasierter Informationen, GI Informatik 2009, Lübeck (Germany), Sept. 29, 2009, 2041-2055

Jörg Roth: A Probabilistic Approach for Context Reasoning Use In Context, GI Informatik 2008, Munich (Germany), Sept. 12, 2008, Proceedings 134, Vol. 2, ISBN 978-3-88579-228-4, 802-807

Jörg Roth: Extracting line string features from GPS logs 5. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", 4.-5. Sept. 2008, Nuremberg (Germany), Scientific Series, Univ. of Applied Sciences Nuremberg, No. 17, ISSN 1867-4585, 79-85

Jörg Roth (ed.): 5. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste 4.-5. Sept. 2008, Nuremberg (Germany), Scientific Series Offprint, Univ. of Applied Sciences Nuremberg, No. 42, ISSN 1867-5433

Jörg Roth: Managing Geo Data for Location-based Services – The Hybris Framework 4th Annual Meeting on Information Technology & Computer Science (ITCS 2008), Stuttgart (Germany), Feb. 20, 2008, ISSN 1614-2519, 12-16

Jörg Roth: Inferring Position Knowledge from Location Predicates 3rd International Symposium on Location- and Context-Awareness (LoCA 2007) Sept. 20-21, 2007, Oberpfaffenhofen (Germany), LNCS 4718, Springer Verlag, 245-262 Nominated for the Best Paper Award

Jörg Roth: Location Sensor Fusion Mechanisms – A Comparison 4. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Sept. 13-14, 2007, Munich (Germany), Dr. Hut-Verlag, ISBN 978-3-89963-591-1, 17-21

Henning Bostelmann, Jörg Roth: Quantitative Analysis for the Quality of Ad Hoc Networks ACM SIGMOBILE Mobile Computing and Communications Review, Vol. 10, No. 4, Oct. 2006, ISSN 1559-1662, 33-45

Jörg Roth: The Distributed Location Resolution Problem and its Efficient Solution IADIS International Journal on Computer Science and Information Systems, Vol. I, No. 2, Oct. 2006, IADIS Press, ISSN 1646-3692, 1-14

Jörg Roth, Jochen Schiller, Agnès Voisard (eds): 3. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste" Sept. 7-8, 2006, Berlin, Institute for Computer Science - Freie Universität Berlin, ISBN 3-929619-39-3

Jörg Roth: Modelling Geo Data for Location-based Services 3. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", Sept. 7-8, 2006, Berlin, Institute for Computer Science - Freie Universität Berlin, ISBN 3-929619-39-3, Sept. 2006, 20-25

Jörg Roth: Detecting Identifiable Areas in Mobile Environments The 21st Annual ACM Symposium on Applied Computing, April 23-27, 2006, Dijon, (France), ACM Press, 986-991

Jörg Roth: The Distributed Location Resolution Problem and its Efficient Solution IADIS International Conference Applied Computing 2006, San Sebastian (Spain), Feb. 25-28, 2006, 3-10 Winner of the Outstanding Paper Award

Jörg Roth: The Role of Semantic Locations for Mobile Information Access Mobiles Informationsmanagement und seine Anwendungen, Sept. 22, 2005, Bonn, Proceedings of the 35th annual GI conference, Vol. 2, 538-542

Jörg Roth (ed): 2. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste" June 16-17, 2005, Stuttgart, Informatik Bericht 324, University of Hagen, June 2005

Jörg Roth: Modelling Location Sensors 2. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", June, 16-17, 2005, Stuttgart, Informatik Bericht 324, University of Hagen, June 2005, 33-36

Jörg Roth: A Decentralized Location Service Providing Semantic Locations Informatik Bericht 323, Habilitation thesis, University of Hagen, Jan. 2005

Thomas Hadig, Jörg Roth: Accessing Location and Proximity Information in a Decentralized Environment International Conference on E-Business und Telecommunication Networks (ICETE 2004), Setúbal (Portugal), Aug. 25-28, 2004, Vol. 1, 88-95

Jörg Roth: Novel Architectures for Location-based Services Annual Meeting for Information Technology & Computer Science, July 7, 2004, Stuttgart, Germany, 5-8

Jörg Roth (ed): 1. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste" June 24-25, 2004, Hagen, Informatik Bericht 317, University of Hagen, June 2004

Jörg Roth: Eine dezentral organisierte Middleware zur Entwicklung ortsbezogener Dienste 1. GI/ITG KuVS Fachgespräch "Ortsbezogene Anwendungen und Dienste", June 24-25, 2004, Hagen, Informatik Bericht 317, University of Hagen, June 2004, 11-14

Thomas Hadig, Jörg Roth: Proximity Services with the Nimbus Framework IADIS International Conference Applied Computing 2004, Lisbon, Portugal, March 23-26, 2004, IADIS Press, 437-444

Jörg Roth: Flexible Positioning for Location-based Services IADIS International Journal of WWW/Internet, Vol. I, Nr. 2, 18-32 (extended version of the paper for e-Society 2003)

Jörg Roth: Accessing Location Data in Mobile Environments - the Nimbus Location Model Mobile HCI 03 Workshop on Mobile and Ubiquitous Information Access, Udine, Italy, Sept. 8, 2003, LNCS 2954, Springer-Verlag, 256-270

Jörg Roth: Semantic Geocast Using a Self-Organizing Infrastructure Innovative Internet Community Systems (I2CS), Leipzig, Germany, June 19-21, 2003, Springer LNCS 2877, 216-228

Jörg Roth: The Critical Mass Problem of Mobile Ad-hoc Networks IADIS International Conference e-Society, Lisbon, Portugal, June 3-6, 2003, Vol. I, IADIS Press, 243-250

Jörg Roth: Flexible Positioning for Location-based Services IADIS International Conference e-Society, Lisbon, Portugal, June 3-6, 2003, Vol. I, IADIS Press, 296-304

Jörg Roth: The Resource Framework for Mobile Applications ICEIS 2003, 5th International Conference on Enterprise Information Systems, April 23-26, 2003, Angers, France, Vol. 4, 87-94

Jörg Roth: Context-aware Web Applications Using the PinPoint Infrastructure IADIS International Conference WWW/Internet 2002, Lissabon, Portugal, Nov, 13-15, 2002, IADIS Press, 3-10

Jörg Roth: Patterns of Mobile Interaction Personal and Ubiquitous Computing, Vol. 6, Issue 4, Springer, 2002, 282-289 (Extended version of the Lille paper 2001)

Jörg Roth: A Communication Middleware for Mobile and Ad-hoc Scenarios International Conference on Internet Computing (IC'02), June 24-27 2002, Las Vegas (USA), Vol. I, 77-84

Jörg Roth: Mobility Support for Replicated Real-time Applications Innovative Internet Computing Systems (I2CS), Kühlungsborn (Germany), June 20-22 2002, LNCS 2346, Springer, 181-192

Jörg Roth: Ein Anwendungsrahmenwerk für synchrone kollaborative Anwendungen in mobilen Umgebungen Informatik Bericht 292, Fernuniversität Hagen, April 2002

Jörg Roth: Seven Challenges for Developers of Mobile Groupware Workshop " Mobile Ad Hoc Collaboration", CHI 2002, Minneapolis, April 22, 2002

Jörg Roth, Claus Unger: Using handheld devices in synchronous collaborative scenarios Personal and Ubiquitous Computing, Vol. 5, Issue 4, Springer, 2001, 243-252

Jörg Roth: Patterns of mobile interaction Proceedings of Mobile HCI 2001: Third International Workshop on Human Computer Interaction with Mobile Devices, M. D. Dunlop and S. A. Brewster (Eds), IHM-HCI 2001 Lille, France, 10. September 2001, 53-58

Stephan Lukosch, Jörg Roth: Reusing Single-user Applications to Create Multi-user Internet Applications Innovative Internet Computing Systems (I2CS), Ilmenau, Germany, June 21-22 2001, LNCS 2060, Springer, 79-90

Jörg Roth: Information sharing with handheld appliances 8th IFIP Working Conference on Engineering for Human-Computer Interaction (EHCI'01), Toronto, Canada, 11.-13. May 2001, LNCS 2254, Springer, 263-279