The heart of any system that simulates the physical interaction between objects is collision detection-the ability to detect when two objects have come into contact. This system is also one of the most difficult aspects of a physical simulation to implement correctly, and invariably it is the main consumer of CPU cycles. Practitioners, new to the field or otherwise, quickly discover that the attempt to build a fast, accurate, and robust collision detection system takes them down a long path fraught with perils and pitfalls unlike most they have ever encountered.
In this book chapter a comparative assessment of modelling and control of mechanical
manipulator is considered. First, kinematic and dynamic modelling of wide range
mechanical manipulators comprising flexible link, flexible joint and mobile manipulators
considered. Then, open-loop optimal control problem is formulated to control of
obtained system. Finally, some applications of method including motion planning
maximum payload determination are illustrated through the computer simulations.
Magnenat Thalmann and Thalmann 
propose a new classification of computer animation
scenes involving synthetic actors both according to the method of controlling motion and according
to the kinds of interactions the actors have. A motion control method specifies how an actor is
animated and may be characterized according to the type of information to which it is privileged in
animating the synthetic actor. For example, in a keyframe system for an articulated body, the
privileged information to be manipulated is joint angles.
Four Basic Elements of Ethernet Ethernet Hardware Network Protocols and Ethernet
The Media Access Control Protocol
The Ethernet Frame Media Access Control Rules Essential Media System Timing Collision Detection and Backoff Gigabit Ethernet Half-Duplex Operation Collision Domain Ethernet Channel Capture High-level Protocols and the Ethernet Frame
Chapter summary: Supports multiple cable types and speeds, uses the CSMA/CD MAC mechanism to detect collisions, uses a logical ring topology, uses the token passing MAC mechanism, uses a double ring or star topology, uses the token passing MAC mechanism, runs at speeds up to 11 Mbps, uses the CSMA/CA MAC mechanism.