selected publications

• academic article

  • The Computer Programs of Charles Babbage.  IEEE Annals of the History of Computing.  43:6-18. 2021
  • 1P1-S05 Bipedal Robot Leg Architecture for RoboCup Humanoid League : Team FUB-KIT, Collaboration between Freie University of Berlin and Kyushu Institute of Technology(RoboCup and Robot Contest).  Robotikusu, Mekatoronikusu Koenkai koen gaiyoshu.  2014:_1P1-S05_2. 2014
  • Konrad Zuse's legacy: the architecture of the Z1 and Z3.  IEEE Annals of the History of Computing.  19:5-16. 1997

• book

  • The first computers: history and architectures 2000

• chapter

  • A Hierarchy of Reactive Behaviors Handles Complexity.  Lecture Notes in Computer Science. 2001
  • The Soul of A New Machine: The Soccer Robot Team of the FU Berlin.  . 2001
  • FU-Fighters Team Description.  Lecture Notes in Computer Science. 2000
  • Using Hierarchical Dynamical Systems to Control Reactive Behavior.  Springer eBooks. 186-195. 2000
  • Activity Driven Update in the Neural Abstraction Pyramid.  Perspectives in neural computing. 1998

• conference paper

  • Neural abstraction pyramid: a hierarchical image understanding architecture.  . 2002