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Besides the work in the field of manipulating rigid objects, currently, there are several research and development activities going on in the field of manipulating non-rigid or deformable objects. Several papers have been published on international conferences in this field from various projects and countries. But there has been no comprehensive work which provides both a representative overview of the state of the art and identifies the important aspects in this field. Thus, we collected these activities and invited the corresponding working groups to present an overview of their research. Altogether, nineteen authors coming from Japan, Germany, Italy, Greece, United Kingdom, and Australia contributed to this book. Their research work covers all the different aspects that occur when manipulating deformable objects. The contributions can be characterized and grouped by the following four aspects: * object modeling and simulation, * planning and control strategies, * collaborative systems, and * applications and industrial experiences. In the following, we give a short motivation and overview of the single chapters of the book. The simulation of deformable objects is one way to approach the problem of manipulating these objects by robots. Based on a physical model of the object and the occurring constraints, the resulting object shape is calculated. In Chapter 2, Hirai presents an energy-based approach, where the internal energy under the geometric constraints is minimized. Frugoli et al. introduce a force-based approach, where the forces between discrete particles are minimized meeting given constraints. Finally, Remde and Henrich extend the energy-based approach to plastic deformation and give a solution of the inverse simulation problem. Even if the object behavior is predicted by simulation, there is still the question of how to control the robot during a single manipulation operation. An additional question is how to retrieve an overall plan for the concatenated manipulation operations. In Chapter 3, Wada investigates the control problems when positioning multiple points of a planar deformable object. McCarrager proposes a control scheme exploiting the flexibility, rather than minimizing it. Abegg et al. use a simple contact state model to describe typical assembly tasks and to derive robust manipulation primitives. Finally, Ono presents an automatic sewing system and suggests a strategy for unfolding fabric. In several manipulation tasks, it is reasonable to apply more than one robot. Especially in cases, where the deformable object has to take a specific shape. Since the robots working at the same object are influencing each other, different control algorithms have to be introduced. In Chapter 4, Yoshida and Kosuge investigates this problem for the task of bending a sheet of metal and exploits the relation ship between the static object deformation and the bending moments. Tanner and Kyriakopoulos regard the deformable object as underactuated mechanical system and make use of the existence of non-holonomic constraints. Both approaches model the deformable object as finite elements. All of the above aspects have their counterpart in different applications and industrial experiences. In Chapter 5, Rizzi et al. present test cases and applications of their approach to simulate the manipulation of fabric, wires, cables, and soft bags. Buckingham and Graham give an overview of two European projects processing white fish including locating, gripping, and deheading the fish. Maruyama outlines the three development phases of a robot system for performing outage-free maintenance of live-line power supply in Japan. Finally, Kämper presents the development of a flexible automatic cabling unit for the wiring of long-tube lighting with plug components.

We present a detailed analysis of a scalar conformal four-point function obtained from AdS/CFT correspondence. We study the scalar exchange graphs in AdS and discuss their analytic properties. Using methods of conformal partial wave analysis, we present a general procedure to study conformal four-point functions in terms of exchanges of scalar and tensor fields. The logarithmic terms in the four-point functions are connected to the anomalous dimensions of the exchanged fields. Comparison of the results from AdS graphs with the conformal partial wave analysis, suggests a possible general form for the operator product expansion of scalar fields in the boundary CFT.

We discuss the analytic properties of AdS scalar exchange graphs in the crossed channel. We show that the possible non-analytic terms drop out by virtue of non-trivial properties of generalized hypergeometric functions. The absence of non-analytic terms is a necessary condition for the existence of an operator product expansion for CFT amplitudes obtained from AdS/CFT correspondence.

The basic idea behind selective multiscale reconstruction of functions from error-affected data is outlined on the sphere. The selective reconstruction mechanism is based on the premise that multiscale approximation can be well-represented in terms of only a relatively small number of expansion coefficients at various resolution levels. An attempt is made within a tree algorithm (pyramid scheme) to remove the noise component from each scale coefficient using a priori statistical information (provided by an error covariance kernel of a Gaussian, stationary stochastic model).

In this paper we construct a multiscale solution method for the gravimetry problem, which is concerned with the determination of the earth's density distribution from gravitational measurements. For this purpose isotropic scale continuous wavelets for harmonic functions on a ball and on a bounded outer space of a ball, respectively, are constructed. The scales are discretized and the results of numerical calculations based on regularization wavelets are presented. The obtained solutions yield topographical structures of the earth's surface at different levels of localization ranging from continental boundaries to local structures such as Ayer's Rock and the Amazonas area.

Spherical Tikhonov Regularization Wavelets in Satellite Gravity Gradiometry with Random Noise
(2000)

This paper considers a special class of regularization methods for satellite gravity gradiometry based on Tikhonov spherical regularization wavelets with particular emphasis on the case of data blurred by random noise. A convergence rate is proved for the regularized solution, and a method is discussed for choosing the regularization level a posteriori from the gradiometer data.

Linear viscoelastic properties for a dilute polymer solution are predicted by modeling the solution as a suspension of non-interacting bead-spring chains. The present model, unline the Rouse model, can describe the solution's rheological behavior even when the solvent quality is good, since excluded volume effects are explicitly taken into account through a narrow Gaussian repulsive potential between pairs of beads in a bead-spring chain. The use of the narrow Gaussian potential, which tends to the more commonly used delta-function repulsive potential in the limit of a width parameter d going to zero, enables the performance of Brownian dynamics simulations. The simulations results, which describe the exact behavior of the model, indicate that for chains of arbitrary but finite length, a delta-function potential leads to equilibrium and zero shear rate properties which are identical to the predictions of the Rouse model. On the other hand, a non-zero value of d gives rise to a predictionof swelling at equilibrium, and an increase in zero shear rate properties relative to their Rouse model values. The use of a delta-function potential appears to be justified in the limit of infinite chain length. The exact simulation results are compared with those obtained with an approximate solution, which is based on the assumption that the non-equilibrium configurational distribution function is Gaussian. The Gaussian approximation is shown to be exact to first order in the strength of excluded volume interaction, and is used to explore long chain rheological properties by extrapolating results obtained numerically for finite chains, to the limit of infinite chain length.

It is well-known that some of the classical location problems with polyhedral gauges can be solved in polynomial time by finding a finite dominating set, i.e. a finite set of candidates guaranteed to contain at least one optimal location. In this paper it is first established that this result holds for a much larger class of problems than currently considered in the literature. The model for which this result can be proven includes, for instance, location problems with attraction and repulsion, and location-allocation problems. Next, it is shown that the approximation of general gauges by polyhedral ones in the objective function of our general model can be analyzed with regard to the subsequent error in the optimal objective value. For the approximation problem two different approaches are described, the sandwich procedure and the greedy algorithm. Both of these approaches lead - for fixed epsilon - to polynomial approximation algorithms with accuracy epsilon for solving the general model considered in this paper.

FeNi/FeMn exchange bias samples with a large exchange bias field at room temperature have been prepared on a Cu buffer layer. Upon irradiation with He ions, both the exchange bias field and the coercive field are modified. For low ion doses the exchange bias field is enhanced by nearly a factor of 2. Above a threshold dose of 0.3olsi 10 15 ions/cm 2 , the exchange bias field decreases continuously as the ion dose increases. The ob-served modifications are explained in terms of defect creation acting as pinning sites for domain walls and atomic intermixing.

For the next generation of high data rate magnetic recording above 1 Gbit/s, a better understanding of the switching processes for both recording heads and media will be required. In order to maximize the switch-ing speed for such devices, the magnetization precession after the magnetic field pulse termination needs to be suppressed to a maximum degree. It is demonstrated experimentally for ferrite films that the appropriate adjustment of the field pulse parameters and/or the static applied field may lead to a full suppression of the magnetization precession immediately upon termination of the field pulse. The suppression is explained by taking into account the actual direction of the magnetization with respect to the static field direction at the pulse termination.

Phase velocities of surface acoustic waves in several boron nitride films were investigated by Brillouin light scattering. In the case of films with predominantly hexagonal crystal structure, grown under conditions close to the nucleation threshold of cubic BN, four independent elastic constants have been determined from the dispersion of the Rayleigh and the first Sezawa mode. The large elastic anisotropy of up to c11/c33 = 0.1 is attributed to a pronounced texture with the c-axes of the crystallites parallel to the film plane. In the case of cubic BN films the dispersion of the Rayleigh wave provides evidence for the existence of a more compliant layer at the substrate-film interface. The observed broadening of the Rayleigh mode is identified to be caused by the film morphology.