This paper presents a robust method to control a mobile robot towing a trailer. Both problems of tra-jectory tracking and steering to a given connguration are addressed. This second issue is solved by an iterative trajectory tracking. Perturbations are taken into account along the motions. Experimental results on the mobile robot Hilare illustrate the validity of our approach.

1. Supported by FCT grant PRAXIS XXI/BD/13875/97 Abstract This paper presents an original approach to the problem of function hiding based on Error Correcting Codes and evaluates the security of this approach. The novelty of the technique consists in using Error Correcting Codes to hide functions instead of encrypting data vectors. This protocol mainly deals with the issue of secure evaluation ...

The effect of the nucleon recoil for antikaon-deuteron scattering is investigated in the framework of effective field theory. In particular, we concentrate on the calculation of the nucleon recoil effect for the double-scattering process. It is shown that the leading correction to the static term that emerges at order ξ with ξ = MK/mN vanishes due to a complete cancellation of individually larg...

The dramatic consequences of oil or chemical spills for coastal ecosystems and economic uses make contingency management a politically sensitive task. We here propose a new Decision Support System (DSS) consisting of a combination of modeling and evaluation methods with which different containment strategies can be compared in the light of a variety of potential ecological and economic damages....