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xx Preface In the recent years there has been growing interest in industrial systems and in particular in robotic manipulators and mobile robot systems. As the cost of robots goes down and as robots become more compact, the number of industrial applications of robotic systems increases. Moreover, there is need to design industrial systems with intelligence, autonomous decision making capabilities, and self-diagnosing properties. The design of intelligent industrial systems requires the synergism of several research areas, such as robotics, control, estimation and sensor fusion, fault diagnosis, optimization and machine intelligence. Incorporating intelligence in industrial and mobile robots can help to increase productivity, cut-off pro- duction costs, and to improve working conditions and safety in industrial environments. This need has resulted in the rapid development of modeling and control methods for industrial systems and robots,