Design issues, dynamic modeling, trajectory planning, and feedback control problems are presented for robot manipulators having components with mechanical flexibility, either concentrated at the joints or distributed along the links. The chapter is divided accordingly in two main parts. Similarities or differences between the two types of flexibility are pointed out wherever appropriate. For ro...

The affine Springer fiber corresponding to a regular integral equivalued semisimple element admits a paving by vector bundles over Hessenberg varieties and hence its homology is “pure”.

This is an implementation of the Fillmore–Springer–Cnops construction (FSCc) based on the Clifford algebra capacities [7] of the GiNaC computer algebra system. FSCc linearises the linear-fraction action of the Möbius group. This turns to be very useful in several theoretical and applied fields including engineering. The core of this realisation of FSCc is done for an arbitrary dimension, while ...

Many complex reflection groups behave as though they were the Weyl groups of “nonexistent algebraic groups”: one can associate to them various representation-theoretic structures and carry out calculations that appear to describe the geometry and representation theory of an unknown object. This paper is a survey of a project to understand the geometry of the “unipotent variety” of a complex ref...

Book Response: Education, Arts and Sustainability: Emerging Practice for a Changing World, by Mary Ann Hunter, Arnold Aprill, Allen Hill & Sherridan Emery. Springer Singapore, Springer, 2018, 120 pp., ISBN: 9811077096 Keywords: Australia; Arts; Critical Thinking; Education; Partnership; Sustainability. Réaction à un ouvrage : par et Mots-clés Australie, arts, raisonnement critique, éducatio...

Biological systems, from embryos to social insects, get tremendous mileage by having vast numbers of cheap and unreliable individuals cooperate to achieve complex goals. We are also rapidly building new kinds of distributed systems with similar characteristics, from multi-modular robots and robot swarms, to vast sensor networks. Can we engineer collective systems to achieve the kind of complexi...

ions for Distributed Programming

The lay view of a robot is a mechanical human, and thus robotics has always been inspired by attempts to emulate biology. In this Chapter, we extend this biological motivation from humans to animals more generally, but with a focus on the central nervous systems rather than the bodies of these creatures. In particular, we investigate the sensorimotor loop in the execution of sophisticated behav...