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Algebraic Frames for the Perception-Action Cycle O.P In this creative journey intoThis volume presents the proceedings of the 2nd International Workshop on gebraic Frames for the Perception and Action Cycle. AFPAC 2000. held in Kiel, Germany, 1011 September 2000. The presented topics cover new results in the conceptualization, design, and implementation of visual sensor based robotics and autonomous systems. Special emphasis is placed on the role of algebraic modelling in the relevant disciplines, such as robotics, computer vision,