COPYRIGHT C 2003-2007 by Zhuo (Robert) Li and Weiping Shi Permission to use for non-commercial purposes is granted provided that proper acknowledgments are given. For information about commercial use, please contact Zhuo (Robert) Li (zhybear@gmail.com), and Weiping Shi (wshi@ee.tamu.edu). This software comes with NO WARRANTY, expressed or implied. By way of example, but not limitation, we make no representations of warranties of merchantability or fitness for any particular purpose or that the use of the software components or documentation will not infringe any patents, copyrights, trademarks, or other rights.