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Two-legged locomotion among obstacles; same with gravity Same with dynamically stable motion Multi-legged locomotion Advanced sensing (vision, range sensing) and redundancy Effect of joint limits in redundant systems; handling potential selfcollisions of robot links

10. Computation and visualization of con guration space of an arm manipulator. 11. Animation of motion planning algorithms for locomotion. 12. Real-time human-centered systems (blending human and machine intelligence in physical and virtual tasks): Human-assisted interaction between multiple mobile robots (e.g., top view control of C-space or W-space); 2D and 3D tasks; same for a single mobile robot; for an arm manipulator Same for advanced versus simple (tactile) sensing. Human-assisted virtual part assembly/disassembly. 13. Taking advantage of advanced sensing for arm manipulator motion planning: For example, design an arm manipulator version of VisBug algorithms. 14. Simulation of 3D vision-based underwater exploration. 15. Motion of two arms sharing common space: each with two links; each with three links. 16. Implementation of motion planning algorithms; animation of robot motion. 17. Development of modular robot motion simulation software.

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To understand the full value of the government s tax policy to promote company pensions, you need to understand some general tax policy issues. As you will see below, the tax advantages of a qualified retirement plan go far beyond just the initial company tax deduction. First, the general rule for taxation for wages (and retirement plans are considered wages from a tax perspective) is the general tax rule: Timing of income to the employee is coordinated with the deduction to the employer. This general tax rule has a fancy name that is sometimes used in IRS and other publications: the Constructive Receipt Doctrine (CRD). Simply put, the company gets a tax deduction at the same time that the employee pays tax on the wage income. You can extend this general rule to the following corollary: If an employee is not taxed on the wage income, then the employer cannot take a tax deduction on the wages paid. However, the government, in order to promote qualified plans, has suspended the CRD in several areas.

Projects in this area tend to vary greatly and to be highly individualized. Examples below are shown only to give a taste of possible topics. 18. Experimental validation of, using a robot available for this work, one or more sensor-based motion planning algorithms. 19. Experimental study of a few existing sensing devices for the choice of technology that satis es in the best way a given motion planning system. Examples: infrared, ultrasound, capacitance, electromagnetic, and so on, sensors. 20. Sensor/processing systems for detecting surrounding objects and doing motion planning. 21. Experimental analysis of human performance in spatial reasoning tasks: teleoperation skills; motion planning skills; effects of training.

1. V. Lumelsky, S. Mukhopadhyay, and K. Sun. Dynamic path planning in sensorbased terrain acquisition. IEEE Transactions on Robotics and Automation 6(4): 462 472, 1990. 2. F. Preparata and M. Shamos. Computational Geometry, Springer-Verlag, New York, 1985. 3. J. C. Latombe. Robot Motion Planning, Kluwer Academic Publishers, Dordrecht, 1991. 4. Y. Lajoie et al. Gait of a deafferented subject without large myelinated sensory bers below the neck. Neurology 47(1):109 115, 1996. 5. S. Rossignol et al. Peripheral and spinal mechanisms in neural control of movement. Progress in Brain Research 123:297 309, 1999. 6. M. Brady, J. Hollerbach, T. Johnson, T. Lozano-P rez, and M. Mason, eds. Robot e Motion, MIT Press, Cambridge, MA, 1982. 7. J. Craig. Introduction to Robotics, Mechanics and Control, 2nd ed., AddisonWesley, Reading, MA, 1989. 8. R. Paul. Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, MA, 1981. 9. A. Bejczy. Robot arm dynamics and control. Technical memorandum 33-669. Technical report, Jet Propulsion Laboratory, Pasadena, CA, 1974. 10. R. H. Taylor. Planning and execution of straight line manipulator trajectories. IBM Journal of Research and Development, 23(4):424 436, 1979. 11. J. Schwartz, J. Hopcroft, M. Sharir, eds. Planning, Geometry, and Complexity. Robot Motion Aspects, Ablex Publishing Corporation, Norwood, NJ, 1986. 12. D. Lipski and F. Preparata. Segments, rectangles, contours. Journal of Algorithms 2:63 76, 1981. 13. T. Lozano-P rez. Spatial planning: A con guration space approach. IEEE Transe actions on Computers 32(3):108 120, February 1983. 14. J. Reif. A survey of advances in the theory of computational robotics. In Adaptive and Learning Systems. Theory and Applications, K. S. Narendra, ed., Plenum Press, New York, 1986. 15. J. Reif. Complexity of the Mover s Problem and generalizations. In Proceedings, 20th Symposium of the Foundations of Computer Science, 1979.

uch of the focus of today s retirement plan management now surrounds financial matters. This is true in general, but with administrative issues sorted out, managers can now move beyond wondering whether the pension checks are being mailed to crucial issues such as the funding of the plans, who should bear the investment risks, and so forth. You will recall the graphic we introduced back in the first chapter (see Figure 1.1). Three of the four governance tools can be broadly categorized under finance. These are: Timing tools Funding Accounting/actuarial

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