2nd scientific advances report on WP3

2nd scientific advances report: results and transfer. Task 3.1 Control structures for motion design (ESR7): New approaches in motion design and related aspects. Task 3.2 Skeleton-based design of surfaces (ESR6): Approximate parameterisation of topologically accurate convolution surfaces. Task 3.3 Singularities and syzygies of parameterisations (ESR3): Development of new algebro-geometrical connections between invariants of curves and surfaces and singularities of their parameterisations, and also implementation of them. Task 3.4 Distance to NURBS curves and surfaces (ESR4): New method for solving the closest point problem for a complete NURBS model and its application to surface fitting. Task 3.5 Path planning and workspace modelling (ESR2): Development of tools for path planning using sparse and motion polynomials.