This chapter is devoted to the design of robots, with a focus on serial architectures. In this regard, we start by proposing a stepwise design procedure; then, we recall the main issues in robot design. These issues pertain to workspace geometry, the kinetostatic, the dynamic, the elastostatic, and elastodynamic performance. In doing this, the mathematics behind the concepts addressed is briefl...

This is an overview of our series of papers on the modular generalized Springer correspondence [AHJR2, AHJR3, AHJR4, AHJR5]. It is an expansion of a lecture given by the second author in the Fifth Conference of the Tsinghua Sanya International Mathematics Forum, Sanya, December 2014, as part of the Master Lecture ‘Algebraic Groups and their Representations’ Workshop honouring G. Lusztig. The ma...

In this chapter, we describe methods to be applied on a robot equipped with one or more camera sensors. Our goal is to present representations and models for both three-dimensional (3-D) motion and structure estimation as well as recognition. We do not delve into estimation and inference issues since these are extensively treated in other chapters. The same applies to the fusion with other sens...

The theorem in question gives a sufficient condition for a quadratic space over a local ring R to contain a hyperbolic plane over R. Our main aim in this paper is to prove the following result, which is a variant of the Springer theorem [La] for quadratic spaces over local rings. Theorem. Let R be a local Noetherian domain that has an infinite residue field of characteristic different from 2. L...

© Springer, 1997. This is the author's version of the work. It is posted here by permission of Springer for your personal use. Not for redistribution. The definitive version was published in Hoppe, H.U., Luther, W. (eds.) Informatik und Lernen in der Informationsgesellschaft, pp. 40– 50, http://link.springer.com/chapter/10.1007/ 978-3-642-60894-0_6 Grundlegende Konzepte von Informationsund Komm...

Irodalom: J. M. Lee: Riemannian Manifolds: an Introduction to Curvature, Graduate Texts in Mathematics 176, Springer Verlag P. Petersen: Riemannian Geometry, Graduate Texts in Mathematics 171, Springer Verlag J. Cheeger, D. Ebin: Comparison Theorems in Riemannian Geometry, North-Holland Publishing Company, Vol. 9, 1975 Szőkefalvi-Nagy Gy., Gehér L., Nagy P.: Differenciálgeometria, Műszaki Könyv...