Erratum

The online version of the original book can be found at http://dx.doi.org/10.1007/978-3-319-20043-9

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

The print and online versions of the book contain some errors, and the corrections to these versions are given below:

Chapter 3

The following text is missing in the first page of Chapter 3

Electronic supplementary material: The online version of this chapter (doi: 10.1007/978-3-319-20043-9_3) contains supplementary material, which is available to authorized users.

Chapter 4

The following text is missing in the first page of Chapter 4

Electronic supplementary material: The online version of this chapter (doi: 10.1007/978-3-319-20043-9_4) contains supplementary material, which is available to authorized users.

Chapter 5

The following text is missing in the first page of Chapter 5

Electronic supplementary material: The online version of this chapter (doi: 10.1007/978-3-319-20043-9_5) contains supplementary material, which is available to authorized users.

Chapter 6

The following text is missing in the first page of Chapter 6

Electronic supplementary material: The online version of this chapter (doi: 10.1007/978-3-319-20043-9_6) contains supplementary material, which is available to authorized users.

Chapter 7

The following text is missing in the first page of Chapter 7

Electronic supplementary material: The online version of this chapter (doi: 10.1007/978-3-319-20043-9_7) contains supplementary material, which is available to authorized users.