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In this work a 3-dimensional contact elasticity problem for a thin fiber and a rigid foundation is studied. We describe the contact condition by a linear Robin-condition (by meaning of the penalized and linearized non-penetration and friction conditions).
The dimension of the problem is reduced by an asymptotic approach. Scaling the Robin parameters appropriately we obtain a recurrent chain of Neumann type boundary value problems which are considered only in the microscopic scale. The problem for the leading term is a homogeneous Neumann problem, hence the leading term depends only on the slow variable. This motivates the choice of a multiplicative ansatz in the asymptotic expansion.
The theoretical results are illustrated with numerical examples performed with a commercial finite-element software-tool.

The Lagrangian field-antifield formalism of Batalin and Vilkovisky (BV) is used to investigate the application of the collec- tive coordinate method to soliton quantisation. In field theories with soliton solutions, the Gaussian fluctuation operator has zero modes due to the breakdown of global symmetries of the Lagrangian in the soliton solutions. It is shown how Noether identities and local symmetries of the Lagrangian arise when collective coordinates are introduced in order to avoid divergences related to these zero modes. This transformation to collective and fluctuation degrees of freedom is interpreted as a canonical transformation in the symplectic field-antifield space which induces a time-local gauge symmetry. Separating the corresponding Lagrangian path integral of the BV scheme in lowest order into harmonic quantum fluctuations and a free motion of the collective coordinate with the classical mass of the soliton, we show how the BV approach clarifies the relation between zero modes, collective coordinates, gauge invariance and the center- of-mass motion of classical solutions in quantum fields. Finally, we apply the procedure to the reduced nonlinear O(3) oe-model.^L

Based on experiences from an autonomous mobile robot project called MOBOT -III, we found hard realtime-constraints for the operating-system-design. ALBATROSS is "A flexible multi-tasking and realtime network-operatingsystem-kernel", not limited to mobile- robot-projects only, but which might be useful also wherever you have to guarantee a high reliability of a realtime-system. The focus in this article is on a communication-scheme fulfilling the demanded (hard realtime-) assurances although not implying time-delays or jitters on the critical informationchannels. The central chapters discuss a locking-free shared buffer management, without the need for interrupts and a way to arrange the communication architecture in order to produce minimal protocol-overhead and short cycle-times. Most of the remaining communication-capacity (if there is any) is used for redundant transfers, increasing the reliability of the whole system. ALBATROSS is actually implemented on a multi-processor VMEbus-system.

This paper refers to the problem of adaptability over an infinite period of time, regarding dynamic networks. A never ending flow of examples have to be clustered, based on a distance measure. The developed model is based on the self-organizing feature maps of Kohonen [6], [7] and some adaptations by Fritzke [3]. The problem of dynamic surface classification is embedded in the SPIN project, where sub-symbolic abstractions, based on a 3-d scanned environment is being done.

The problem to be discussed here, is the usage of neural network clustering techniques on a mobile robot, in order to build qualitative topologic environment maps. This has to be done in realtime, i.e. the internal world model has to be adapted by the flow of sensor- samples without the possibility to stop this data-flow.Our experiments are done in a simulation environment as well as on a robot, called ALICE.

Based on the experiences from an autonomous mobile robot project called MOBOT-III, we found hard realtime-constraints for the operating- system-design. ALBATROSS is "A flexible multi-tasking and realtime network-operating-system-kernel". The focusin this article is on a communication-scheme fulfilling the previous demanded assurances. The centralchapters discuss the shared buffer management and the way to design the communication architecture.Some further aspects beside the strict realtime-requirements like the possibilities to control and watch a running system, are mentioned. ALBATROSS is actually implemented on a multi-processor VMEbus-system.

Based on the idea of using topologic feature-mapsinstead of geometric environment maps in practical mobile robot tasks, we show an applicable way tonavigate on such topologic maps. The main features regarding this kind of navigation are: handling of very inaccurate position (and orientation) information as well as implicit modelling of complex kinematics during an adaptation phase. Due to the lack of proper a-priori knowledge, a re-inforcement based model is used for the translation of navigator commands to motor actions. Instead of employing a backpropagation network for the cen-tral associative memory module (attaching actionprobabilities to sensor situations resp. navigatorcommands) a much faster dynamic cell structure system based on dynamic feature maps is shown. Standard graph-search heuristics like A* are applied in the planning phase.

SPIN-NFDS Learning and Preset Knowledge for Surface Fusion - A Neural Fuzzy Decision System -
(1993)

The problem to be discussed in this paper may be characterized in short by the question: "Are these two surface fragments belonging together (i.e. belonging to the same surface)?" The presented techniques try to benefit from some predefined knowledge as well as from the possibility to refine and adapt this knowledge according to a (changing) real environment, resulting in a combination of fuzzy-decision systems and neural networks. The results are encouraging (fast convergence speed, high accuracy), and the model might be used for a wide range of applications. The general frame surrounding the work in this paper is the SPIN- project, where emphasis is on sub-symbolic abstractions, based on a 3-d scanned environment.