Institutions
================
RHexLib was developed in collaboration by the following institutions:

- The University of Michigan, Ann Arbor, MI
- McGill University, Montreal, Quebec
- Carnegie Mellon University, Pittsburgh, PA

----------------------------------------------------------------------------
Original Authors:
=================

* Uluc Saranli <ulucs@umich.edu>
   - Apr 2002: Mode Supervisor
   - Apr 2001: Flipping controller and FlipMachine module
   - Mar 2001: SimSect hardware support
   - Feb 2001: SitMachine, StandMachine, CalibMachine implementations
   - Feb 2001: StallSensor, TouchdownDetector, EncoderReader, RemoteControl
      modules
   - Feb 2001: Low level motor control 
   - Feb 2001: Tokenizer and Symbol table facilities for configuration files 
   - Feb 2001: Basic DataLogger module
   - Feb 2001: Michigan RHex, and Virtual hardware support 
   - Jan 2001: Hardware abstract layer concept for low level hardware access
   - Jan 2001: Initial QNX port, OS specific functionality
   - Dec 2000: The module and module manager concepts

* Eric Klavins <klavins@umich.edu>
   - Mar 2001: Basic linear profiling tools 
   - Mar 2001: WalkMachine implementation 
   - Feb 2001: Virtual hardware support 
   - Jan 2001: State machine framework and associated tools 
   - Dec 2000: The module and module manager concepts

Contributors:
=================

* Haldun Komsuoglu <hkomsuog@umich.edu>
   - Mar 2001: Filter and Math tools 
   - Mar 2001: Inclination compensation for walking and standing 

* Joel Weingarten <jweingar@umich.edu>
   - Jun 2001: Threading the module manager
   - June 2001: Communications module

* Dave McMordie <mcmordie@cim.mcgill.ca>
   - May 2001: Pronking controller
   - May 2001: McGill hardware support

* Ned Moore <emoore@po-box.mcgill.ca>
   - May 2001: Stair climbing controller 

* Laura McWilliams <lmcwil@umich.edu>
   - June 2001: RHexLogger module and associated facilities. 

* Rob Peters <petersr@umich.edu>
   - June 2001: ExtProfiler functional profiling tools 
   - June 2001: Variable speed walking controller 

* Jay Gowdy <jayg@cs.cmu.edu>
   - Communications manager
   - Database manager
   - Utilities library (with ConfigFile etc.)

* Alfred Rizzi <rizzi@cs.cmu.edu>
   - Communications manager
   - Logging server 
   - Client library

----------------------------------------------------------------------------
Sponsors:
=================
RHexLib development is supported in part by:

- DARPA/ONR Grant N00014-98-1-0747