Contact detection and contact motion for error recovery in the presence of uncertainties

Due to various kinds of uncertainties, a robot motion may fail and result in some unintended contact between the object held by the robot and the environment, which greatly hampers robotics applications on tasks with high-precision requirements, such as assembly tasks. Aiming at automatically recovering a robotic task from such a failure, this paper discusses, in the presence of uncertainties, contact detection based on contact motion for recovery. It presents a framework for on-line recognizing contacts using multiple sensor modalities in the presence of sensing uncertainties and means for ensuring successful compliant motions in the presence of sensing and control uncertainties

A framework of web-based conceptual design

A web-based conceptual design prototype system is presented. The system consists of four parts which interpret on-line sketches as 2D and 3D geometry, extract 3D hierarchical configurations, allow editing of component behaviours, and produce VRML-based behavioural simulations for design verification and web-based application. In the first part, on-line freehand sketched input is interpreted as 2D and 3D geometry, which geometrically represents conceptual design. The system then infers 3D configuration by analysing 3D modelling history. The configuration is described by a parent–child hierarchical relationship and relative positions between two geometric components. The positioning information is computed with respect to the VRML97 specification. In order to verify the conceptual design of a product, the behaviours can be specified interactively on different components. Finally, the system creates VRML97 formatted files for behavioural simulation and collaborative design application over the Internet. The paper gives examples of web-based applications. This work forms a part of a research project into the design and establishing of modular machines for automation manufacture. A consortium of leading automotive companies is collaborating on the research project

Semifields, relative difference sets, and bent functions

Recently, the interest in semifields has increased due to the discovery of several new families and progress in the classification problem. Commutative semifields play an important role since they are equivalent to certain planar functions (in the case of odd characteristic) and to modified planar functions in even characteristic. Similarly, commutative semifields are equivalent to relative difference sets. The goal of this survey is to describe the connection between these concepts. Moreover, we shall discuss power mappings that are planar and consider component functions of planar mappings, which may be also viewed as projections of relative difference sets. It turns out that the component functions in the even characteristic case are related to negabent functions as well as to $\mathbb{Z}_4$-valued bent functions.Comment: Survey paper for the RICAM workshop "Emerging applications of finite fields", 09-13 December 2013, Linz, Austria. This article will appear in the proceedings volume for this workshop, published as part of the "Radon Series on Computational and Applied Mathematics" by DeGruyte