The use of computer technology to automate the enforcement of law is a promising alternative to simplify bureaucratic procedures. However, careless automation might result in an inflexible and dehumanized law enforcement system driven by algorithms that do not account for the particularities of individuals or minorities. In this article, we argue that hybrid smart contracts deployed to monitor rather than blindly enforce regulations can be used to add flexibility. Enforcement is a suitable alternative only when prevention is strictly necessary; however, we argue that in many situations a corrective approach based on monitoring is more flexible and suitable. To add more flexibility, the hybrid smart contract can be programmed to stop to request the intervention of a human or of a group of them when human judgment is needed.

This paper presents a new cooperative object transportation technique using parallel line formation with a circular shift. Typical areas of research in relation to object transportation are grasping, pushing, and caging techniques, but these require precise grasping behaviors, iterative motion correction according to the object pose, and the real-time acquisition of the object shape, respectively. In this paper, the proposed technique does not need to consider the shape or the pose of objects, and equipped tools are not necessary for object transportation because objects are transported by pushing behavior only. Multiple robots create parallel line formation using a virtual electric dipole field and then push multiple objects into the formation. This parallel line is extended to the goal using cyclic motion by the robots and the objects are transported to the goal by pushing behavior. The above processes are decentralized and activated based on the finite state machine of each robot. Simulations and practical experiments are presented to verify the proposed technique.

The paper present a model of the kinematics of a rotary, redundant manipulator, in the form of a Finite State Machine, this is in fact, an example of AI production systems. This model is able to supply us with succesive configurations, calculated immediately in Cartesian space and allowing at the same time to considerably simplify the computations engaged in the graph searching. For an automaton-type model of the manipulator kinematics, diverse strategies of searching for a collision-free trajectory, reduced to a search of an appropriate path in the state-transition graph of FSM, are analyzed.