Abstract
We investigate the effects of diffusion on the evolution of steady-state dark and gray spatial solitons in biased photorefractive media. Numerical integration of the nonlinear propagation equation shows that the soliton beams experience a modification of their initial trajectory, as well as a variation of their minimum intensity. This process is further studied using perturbation analysis, which predicts that the center of the optical beam moves along a parabolic trajectory and, moreover, that its minimum intensity varies linearly with the propagation distance, either increasing or decreasing depending on the sign of the initial transverse velocity. Relevant examples are provided.

Abstract
This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers. © 2008 IEEE.

Abstract
Digital personalities are virtual characters that possess situation dependent, personality revealing behaviors. This paper introduces concepts, current and prospective usages of personality-rich virtual characters, and focus on authoring issues for artists that want to create digital portrays of digital persons. Different categories of digital personalities are introduced, in particular virtual actors for CG-movies are explained in more detail because of the importance of understanding the functioning of virtual actors-other types of virtual personalities will often be build upon the faculties of virtual actors. It is proposed that an essential feature of the prospective authoring process of digital personalities is the support of generalization. This would allow for a "concrete authoring", that modifies and defines concrete cases. Thus, the author would be able to employ concrete cases as basis for generalizations. In this context, possible technologies that would support a concrete authoring process are presented, in particular Case-Based Reasoning.

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Abstract
This paper propose a real-time vision architecture for mobile robotics, and describes a current implementation that is characterised by: low computational cost, low latency, low power, high modularity, configuration, adaptability and scalability. A pipeline structure further reduces latency and allows a paralleled hardware implementation. A dedicated hardware vision sensor was developed in order to take advantage of the proposed architecture. A new method using run length encoding (RLE) colour transition allows real-time edge determination at low computational cost. The real-time characteristics and hardware partial implementation, coupled with low energy consumption address typical autonomous systems applications.

Abstract