La lutte pour la reconnaissance des Québécoises de 2e génération portant le voile

Ce mémoire vise à comprendre l’expérience de vie des jeunes Québécoises de 2e génération portant le voile islamique, qui ont vécu le débat sur la charte de la laïcité au Québec en 2012. Un des articles de ce projet de loi visait à interdire le port des signes religieux «ostentatoires» par les employés de la fonction publique. Une vague de protestation a animé les membres des minorités religieuses visées et une apparition, quoique marginale, des Québécois de 2e génération a commencé à émerger. À travers le concept de lutte pour la reconnaissance tel que théorisé par Honneth et celui de stigmate amené par Goffman et élaboré par Göle, j’ai tenté de comprendre l’expérience de lutte pour la reconnaissance entamée par des Québécoises porteuses d’un signe religieux stigmatisé. Le concept d’hybridité m’a permis également de comprendre la richesse identitaire de ces jeunes qui se manifeste notamment dans l’articulation de leurs revendications. J’ai ainsi mené 13 entrevues semi dirigées sur le mode du récit de vie avec des jeunes femmes âgées entre 19 et 27 ans, nées au Québec et portant le voile islamique.

Globalization and the collective action of the socially excluded in France : At the heart of the margins?

In this article, we consider the changing relationships between French ‘have-not’ movements (the unemployed, the homeless, undocumented persons) and the main organizations involved in the alter-globalization field from 1995 to 2005. We demonstrate how the building of the global space of protest in France was punctuated by two moments. The first corresponds to the gradual convergence of social actors around the issue of globalization, translated into a renewal of activists’ discourses, the development of multiple scales of mobilizations and a functional division of tasks among actors. The second moment corresponds more to the crystallization of divisions among them. These divisions are articulated around different conceptions of what the struggle's aims should be (a fight against liberalism or an alternative experiment) and differences regarding the sense of belonging to the global space of protest (transnational networks or national territory). The history of convergence placed the have-nots at the heart of alter-globalist mobilizations, whereas the history of divergence translated into a ‘decentering’ of the place of the have-nots within this space. Their progressive marginalization also reveals the transformations of struggles against globalization in France.

Patient-specific model of a scoliotic torso for surgical planning

A method for the construction of a patient-specific model of a scoliotic torso for surgical planning via inter- patient registration is presented. Magnetic Resonance Images (MRI) of a generic model are registered to surface topography (TP) and X-ray data of a test patient. A partial model is first obtained via thin-plate spline registration between TP and X-ray data of the test patient. The MRIs from the generic model are then fit into the test patient using articulated model registration between the vertebrae of the generic model’s MRIs in prone position and the test patient’s X-rays in standing position. A non-rigid deformation of the soft tissues is performed using a modified thin-plate spline constrained to maintain bone rigidity and to fit in the space between the vertebrae and the surface of the torso. Results show average Dice values of 0.975 ± 0.012 between the MRIs following inter-patient registration and the surface topography of the test patient, which is comparable to the average value of 0.976 ± 0.009 previously obtained following intra-patient registration. The results also show a significant improvement compared to rigid inter-patient registration. Future work includes validating the method on a larger cohort of patients and incorporating soft tissue stiffness constraints. The method developed can be used to obtain a geometric model of a patient including bone structures, soft tissues and the surface of the torso which can be incorporated in a surgical simulator in order to better predict the outcome of scoliosis surgery, even if MRI data cannot be acquired for the patient.

Multimodal image registration of the scoliotic torso for surgical planning

Background This paper presents a method that registers MRIs acquired in prone position, with surface topography (TP) and X-ray reconstructions acquired in standing position, in order to obtain a 3D representation of a human torso incorporating the external surface, bone structures, and soft tissues. Methods TP and X-ray data are registered using landmarks. Bone structures are used to register each MRI slice using an articulated model, and the soft tissue is confined to the volume delimited by the trunk and bone surfaces using a constrained thin-plate spline. Results The method is tested on 3 pre-surgical patients with scoliosis and shows a significant improvement, qualitatively and using the Dice similarity coefficient, in fitting the MRI into the standing patient model when compared to rigid and articulated model registration. The determinant of the Jacobian of the registration deformation shows higher variations in the deformation in areas closer to the surface of the torso. Conclusions The novel, resulting 3D full torso model can provide a more complete representation of patient geometry to be incorporated in surgical simulators under development that aim at predicting the effect of scoliosis surgery on the external appearance of the patient’s torso.

Rencontres au sein du cinéma québécois : une recherche-création intersectionnelle de la représentation des différences

Cette thèse-filmique s'articule autour de deux questions principales : comment aborder l’articulation des différences (qu’elles soient d’ordre genré, sexuel, culturel, racial, physique ou subjectif) telles qu'elles se retrouvent spécifiquement dans certains films québécois ; et, dans quelle mesure l’étude critique des différences permettent-elles de concevoir le cinéma comme un régime de la représentation (Hall 1997a) québécois articulé autour de certaines normativités (Butler, 2004)? On retrouve dans la littérature sur le cinéma québécois des préoccupations sur les questions associées à l’identité nationale liées avec des pratiques de différenciations identitaires et sociales (Poirier, 2004a, 2004b; Boulais, 2006; Barrette, 2009; Juteau et Fontaine, 1996) renvoyant à une opposition entre « nous/soi » et « l’Autre ». Afin de répondre à une urgence politique de considérer autrement ces questions, j’ai adopté une posture intersectionnelle (Bilge, 2009). L’intersectionnalité me permet d’aborder les différences de façon inductive afin d’ouvrir une discussion intégrée sur les rapports de pouvoir et l’articulation des oppressions. À ce sujet, je considère qu’une lutte de pouvoir autour de la représentation (Hall, 1997a; du Gay et al., 1997) s’inscrit dans une lutte plus large concernant des rapports de force dans la société québécoise. Inspirée par les théories queer et féministes, les études cinématographiques et les Cultural Studies, j’ai développé une méthodologie autoethnographique au sein d’une méthodologie de recherche-création (Sawchuk et Chapman, 2012). L’intermédialité de mon projet permet de nouvelles possibilités (Mariniello, 2000) notamment en créant un espace de réflexion favorisant l’échange entre diverses voix et expériences, mais également en brouillant les frontières méthodologiques et médiatiques de ma démarche, permettant d’approfondir de façon intuitive et exploratoire le concept de la rencontre. En effet, la rencontre et l’expérience de la rencontre ont joué un rôle à la fois conceptuel et personnel dans ce projet. Elle me permet d’éviter de fixer la différence, et plutôt de l’aborder dans son processus de reconnaissance et d’émergence d’une identité.

"Appropriation" des processus de développement par les pays en développement? Une perspective des acteurs sociaux nationaux : étude de cas : Rwanda

L’« appropriation » par les pays en développement (PED) de leurs processus de développement forme la clef de voûte de la nouvelle approche de l’aide et de la coopération au développement telle que promue par la Déclaration de Paris (2005). Si ce passage vers l’« appropriation » vise à installer les PED « dans le siège du conducteur », il reste tout de même inscrit dans une relation d’aide. Or, la Déclaration de Paris pose cette « appropriation » comme le résultat d’un consensus et comme un principe devant être mis en oeuvre sur un terrain vierge via une série de mesures techniques préoccupées par une efficacité ou plutôt une efficience de l’aide. En s’intéressant à la perspective d’acteurs sociaux nationaux quant à cette question de l’ « appropriation » à partir d’une étude de cas c’est-à-dire d’un contexte précis, ici celui du Rwanda, cette thèse vise à démontrer que l’agenda et les politiques en matière de développement, dont la question de l’ « appropriation », ne peuvent être saisis dans un vide contextuel. En effet, ce que met en évidence la perspective des acteurs sociaux nationaux au Rwanda quant à cette question de l’ « appropriation », c’est leur réinscription de cette question dans le contexte du Rwanda post-génocide et dépendant de l’aide, et leur appréhension de celle-ci à partir de ce contexte. Ce contexte informe le récit de ces acteurs qui met en sens et en forme cette « appropriation ». Leur saisie de l’ « appropriation » se bâtit autour d’un double impératif dans le contexte du Rwanda post-génocide, un impératif d’une part de reconstruction socio-économique et d’autre part d’édification d’une nation, et ce, à la lumière des tensions ‘ethniques’ qui traversent et structurent historiquement l’espace politique et social rwandais et qui ont donné lieu au génocide de 1994.

Thermo-Structural Analysis of 3D Composites

Three dimensional (3D) composites are strong contenders for the structural applications in situations like aerospace,aircraft and automotive industries where multidirectional thermal and mechanical stresses exist. The presence of reinforcement along the thickness direction in 3D composites,increases the through the thickness stiffness and strength properties.The 3D preforms can be manufactured with numerous complex architecture variations to meet the needs of specific applications.For hot structure applications Carbon-Carbon(C-C) composites are generally used,whose property variation with respect to temperature is essential for carrying out the design of hot structures.The thermomechanical behavior of 3D composites is not fully understood and reported.The methodology to find the thermomechanical properties using analytical modelling of 3D woven,3D 4-axes braided and 3D 5-axes braided composites from Representative Unit Cells(RUC's) based on constitutive equations for 3D composites has been dealt in the present study.High Temperature Unidirectional (UD) Carbon-Carbon material properties have been evaluated using analytical methods,viz.,Composite cylinder assemblage Model and Method of Cells based on experiments carried out on Carbon-Carbon fabric composite for a temparature range of 300 degreeK to 2800degreeK.These properties have been used for evaluating the 3D composite properties.From among the existing methods of solution sequences for 3D composites,"3D composite Strength Model" has been identified as the most suitable method.For thegeneration of material properies of RUC's od 3D composites,software has been developed using MATLAB.Correlaton of the analytically determined properties with test results available in literature has been established.Parametric studies on the variation of all the thermomechanical constants for different 3D performs of Carbon-Carbon material have been studied and selection criteria have been formulated for their applications for the hot structures.Procedure for the structural design of hot structures made of 3D Carbon-Carbon composites has been established through the numerical investigations on a Nosecap.Nonlinear transient thermal and nonlinear transient thermo-structural analysis on the Nosecap have been carried out using finite element software NASTRAN.Failure indices have been established for the identified performs,identification of suitable 3D composite based on parametric studies on strength properties and recommendation of this material for Nosecap of RLV based on structural performance have been carried out in this Study.Based on the 3D failure theory the best perform for the Nosecap has been identified as 4-axis 15degree braided composite.

Applications of Fractal Based Structures in Radar Cross Section Reduction

This thesis presents the Radar Cross Section measurements of different geometric structures such as flat plate,cylinder, corner reflector and circular cone loaded with fractal based metallo dielectric structures.Use of different fractal geometris,metallizations of different shapes as well as the frequency tanability is investigated for TE and TM polarization of the incident electromagnetic field.Application of fractal based metallo-dielectric structures results in RCS reduction over a wide range of frequency bands.RCS enhancement of dihedral corner is observed at certain acute and obtuse corner angles.The experimental results are validated using electromagnetic simulation softwares.

Scattering Behaviour of fractal based metallo-dielectric structures

The scattering behaviour of fractal based metallodielectric structures loaded over metallic targets of different shapes such as flat plate, cylinder and dihedral corner reflector are investigated for both TE and TM polarizations of the incident wave. Out of the various fractal structures studied,square Sierpinski carpet structure is found to give backscattering reduction for an appreciable range of frequencies. The frequency of minimum backscattering depends on the geometry of the structure as well as on the thickness of the substrate. This structure when loaded over a dihedral corner reflector is showing an enhancement in RCS for corner angles other than 90◦.

Acoustic radiation and scattering from cylindrical bodies and analysis of transducer arrays

New mathematical methods to analytically investigate linear acoustic radiation and scattering from cylindrical bodies and transducer arrays are presented. Three problems of interest involving cylinders in an infinite fluid are studied. In all the three problems, the Helmholtz equation is used to model propagation through the fluid and the beam patterns of arrays of transducers are studied. In the first problem, a method is presented to determine the omni-directional and directional far-field pressures radiated by a cylindrical transducer array in an infinite rigid cylindrical baffle. The solution to the Helmholtz equation and the displacement continuity condition at the interface between the array and the surrounding water are used to determine the pressure. The displacement of the surface of each transducer is in the direction of the normal to the array and is assumed to be uniform. Expressions are derived for the pressure radiated by a sector of the array vibrating in-phase, the entire array vibrating in-phase, and a sector of the array phase-shaded to simulate radiation from a rectangular piston. It is shown that the uniform displacement required for generating a source level of 220 dB ref. μPa @ 1m that is omni directional in the azimuthal plane is in the order of 1 micron for typical arrays. Numerical results are presented to show that there is only a small difference between the on-axis pressures radiated by phased cylindrical arrays and planar arrays. The problem is of interest because cylindrical arrays of projectors are often used to search for underwater objects. In the second problem, the errors, when using data-independent, classical, energy and split beam correlation methods, in finding the direction of arrival (DOA) of a plane acoustic wave, caused by the presence of a solid circular elastic cylindrical stiffener near a linear array of hydrophones, are investigated. Scattering from the effectively infinite cylinder is modeled using the exact axisymmetric equations of motion and the total pressures at the hydrophone locations are computed. The effect of the radius of the cylinder, a, the distance between the cylinder and the array, b, the number of hydrophones in the array, 2H, and the angle of incidence of the wave, α, on the error in finding the DOA are illustrated using numerical results. For an array that is about 30 times the wavelength and for small angles of incidence (α<10), the error in finding the DOA using the energy method is less than that using the split beam correlation method with beam steered to α; and in some cases, the error increases when b increases; and the errors in finding the DOA using the energy method and the split beam correlation method with beam steered to α vary approximately as a7 / 4 . The problem is of interest because elastic stiffeners – in nearly acoustically transparent sonar domes that are used to protect arrays of transducers – scatter waves that are incident on it and cause an error in the estimated direction of arrival of the wave. In the third problem, a high-frequency ray-acoustics method is presented and used to determine the interior pressure field when a plane wave is normally incident on a fluid cylinder embedded in another infinite fluid. The pressure field is determined by using geometrical and physical acoustics. The interior pressure is expressed as the sum of the pressures due to all rays that pass through a point. Numerical results are presented for ka = 20 to 100 where k is the acoustic wavenumber of the exterior fluid and a is the radius of the cylinder. The results are in good agreement with those obtained using field theory. The directional responses, to the plane wave, of sectors of a circular array of uniformly distributed hydrophones in the embedded cylinder are then computed. The sectors are used to simulate linear arrays with uniformly distributed normals by using delays. The directional responses are compared with the output from an array in an infinite homogenous fluid. These outputs are of interest as they are used to determine the direction of arrival of the plane wave. Numerical results are presented for a circular array with 32 hydrophones and 12 hydrophones in each sector. The problem is of interest because arrays of hydrophones are housed inside sonar domes and acoustic plane waves from distant sources are scattered by the dome filled with fresh water and cause deterioration in the performance of the array.

Mechanical Properties of Steel Fiber-Reinforced Concrete

This paper presents the results from an experimental program and an analytical assessment of the influence of addition of fibers on mechanical properties of concrete. Models derived based on the regression analysis of 60 test data for various mechanical properties of steel fiber-reinforced concrete have been presented. The various strength properties studied are cube and cylinder compressive strength, split tensile strength, modulus of rupture and postcracking performance, modulus of elasticity, Poisson’s ratio, and strain corresponding to peak compressive stress. The variables considered are grade of concrete, namely, normal strength 35 MPa , moderately high strength 65 MPa , and high-strength concrete 85 MPa , and the volume fraction of the fiber Vf =0.0, 0.5, 1.0, and 1.5% . The strength of steel fiber-reinforced concrete predicted using the proposed models have been compared with the test data from the present study and with various other test data reported in the literature. The proposed model predicted the test data quite accurately. The study indicates that the fiber matrix interaction contributes significantly to enhancement of mechanical properties caused by the introduction of fibers, which is at variance with both existing models and formulations based on the law of mixtures

Ein Beitrag zur realitätsnahen Modellierung und Analyse von stahlfaserverstärkten Stahlbeton- und Stahlbetonflächentragwerken

Das Werkstoffverhalten von stahlfaserfreiem bzw. stahlfaserverstärktem Stahlbeton unter biaxialle Druck- Zugbeanspruchung wurde experimentell und theoretisch untersucht. Die Basis der experimentellen Untersuchungen waren zahlreiche Versuche, die in der Vergangenheit an faserfreiem Stahlbetonscheiben zur Bestimmung des Werkstoffverhaltens von gerissenem Stahlbeton im ebenen Spannungszustand durchgeführt wurden. Bei diesen Untersuchungen wurde festgestellt, dass infolge einer Querzugbeanspruchung eine Abminderung der biaxialen Druckfestigkeit entsteht. Unter Berücksichtigung dieser Erkenntnisse sind zur Verbesserung der Werkstoffeigenschaften des Betons, Stahlbetonscheiben aus stahlfaserverstärktem Beton hergestellt worden. Die aus der Literatur bekannten Werkstoffmodelle für Beton sowie Stahlbeton, im ungerissenen und gerissenen Zustand wurden hinsichtlich der in der Vergangenheit ermittelten Materialeigenschaften des Betons bzw. Stahlbetons unter proportionalen sowie nichtproportionalen äußeren Belastungen erklärt und kritisch untersucht. In den frischen Beton wurden Stahlfasern hinzugegeben. Dadurch konnte die Festigkeits- und die Materialsteifigkeitsabminderung infolge Rissbildung, die zur Schädigung des Verbundwerkstoffs Beton führt, reduziert werden. Man konnte sehen, dass der Druckfestigkeitsabminderungsfaktor und insbesondere die zur maximal aufnehmbaren Zylinderdruckfestigkeit gehörende Stauchung, durch Zugabe von Stahlfasern besser begrenzt wird. Die experimentelle Untersuchungen wurden an sechs faserfreien und sieben stahlfaserverstärkten Stahlbetonscheiben unter Druck-Zugbelastung zur Bestimmung des Verhaltens des gerissenen faserfreien und stahlfaserverstärkten Stahlbetons durchgeführt. Die aus eigenen Versuchen ermittelten Materialeigenschaften des Betons, des stahlfaserverstärkten Betons und Stahlbetons im gerissenen Zustand wurden dargelegt und diskutiert. Bei der Rissbildung des quasi- spröden Werkstoffs Beton und dem stahlfaserverstärkten Beton wurde neben dem plastischen Fließen, auch die Abnahme des Elastizitätsmoduls festgestellt. Die Abminderung der aufnehmbaren Festigkeit und der zugehörigen Verzerrung lässt sich nicht mit der klassischen Fließtheorie der Plastizität ohne Modifizierung des Verfestigungsgesetzes erfassen. Es wurden auf elasto-plastischen Werkstoffmodellen basierende konstitutive Beziehungen für den faserfreien sowie den stahlfaserverstärkten Beton vorgeschlagen. Darüber hinaus wurde in der vorliegenden Arbeit eine auf dem elasto-plastischen Werkstoffmodell basierende konstitutive Beziehung für Beton und den stahlfaser-verstärkten Beton im gerissenen Zustand formuliert. Die formulierten Werkstoffmodelle wurden mittels dem in einer modularen Form aufgebauten nichtlinearen Finite Elemente Programm DIANA zu numerischen Untersuchungen an ausgewählten experimentell untersuchten Flächentragwerken, wie scheibenartigen-, plattenartigen- und Schalentragwerken aus faserfreiem sowie stahlfaserverstärktem Beton verwendet. Das entwickelte elasto-plastische Modell ermöglichte durch eine modifizierte effektive Spannungs-Verzerrungs-Beziehung für das Verfestigungsmodell, nicht nur die Erfassung des plastischen Fließens sondern auch die Berücksichtigung der Schädigung der Elastizitätsmodule infolge Mikrorissen sowie Makrorissen im Hauptzugspannungs-Hauptdruckspannungs-Bereich. Es wurde bei den numerischen Untersuchungen zur Ermittlung des Last-Verformungsverhaltens von scheibenartigen, plattenartigen- und Schalentragwerken aus faserfreiem und stahlfaserverstärktem Stahlbeton, im Vergleich mit den aus Versuchen ermittelten Ergebnissen, eine gute Übereinstimmung festgestellt.

Time Discretization of the SST-generalized Navier-Stokes Equations: Positive and Negative Results

In the theory of the Navier-Stokes equations, the proofs of some basic known results, like for example the uniqueness of solutions to the stationary Navier-Stokes equations under smallness assumptions on the data or the stability of certain time discretization schemes, actually only use a small range of properties and are therefore valid in a more general context. This observation leads us to introduce the concept of SST spaces, a generalization of the functional setting for the Navier-Stokes equations. It allows us to prove (by means of counterexamples) that several uniqueness and stability conjectures that are still open in the case of the Navier-Stokes equations have a negative answer in the larger class of SST spaces, thereby showing that proof strategies used for a number of classical results are not sufficient to affirmatively answer these open questions. More precisely, in the larger class of SST spaces, non-uniqueness phenomena can be observed for the implicit Euler scheme, for two nonlinear versions of the Crank-Nicolson scheme, for the fractional step theta scheme, and for the SST-generalized stationary Navier-Stokes equations. As far as stability is concerned, a linear version of the Euler scheme, a nonlinear version of the Crank-Nicolson scheme, and the fractional step theta scheme turn out to be non-stable in the class of SST spaces. The positive results established in this thesis include the generalization of classical uniqueness and stability results to SST spaces, the uniqueness of solutions (under smallness assumptions) to two nonlinear versions of the Euler scheme, two nonlinear versions of the Crank-Nicolson scheme, and the fractional step theta scheme for general SST spaces, the second order convergence of a version of the Crank-Nicolson scheme, and a new proof of the first order convergence of the implicit Euler scheme for the Navier-Stokes equations. For each convergence result, we provide conditions on the data that guarantee the existence of nonstationary solutions satisfying the regularity assumptions needed for the corresponding convergence theorem. In the case of the Crank-Nicolson scheme, this involves a compatibility condition at the corner of the space-time cylinder, which can be satisfied via a suitable prescription of the initial acceleration.

Simultaneous Drying and Separation of Composite Agricultural Material for Hay Processing

In composite agricultural materials such as grass, tee, medicinal plants; leaves and stems have a different drying time. By this behavior, after leaving the dryer, the stems may have greater moisture content than desired, while the leaves one minor, which can cause either the appearance of fungi or the collapse of the over-dried material. Taking into account that a lot of grass is dehydrated in forced air dryers, especially rotary drum dryers, this research was developed in order to establish conditions enabling to make a separation of the components during the drying process in order to provide a homogeneous product at the end. For this, a rotary dryer consisting of three concentric cylinders and a circular sieve aligned with the more internal cylinder was proposed; so that, once material enters into the dryer in the area of the inner cylinder, stems pass through sieve to the middle and then continue towards the external cylinder, while the leaves continue by the inner cylinder. For this project, a mixture of Ryegrass and White Clover was used. The characteristics of the components of a mixture were: Drying Rate in thin layer and in rotation, Bulk density, Projected Area, Terminal velocity, weight/Area Ratio, Flux through Rotary sieve. Three drying temperatures; 40°C, 60° C and 80° C, and three rotation speeds; 10 rpm, 20 rpm and 40 rpm were evaluated. It was found that the differences in drying time are the less at 80 °C when the dryer rotates at 40 rpm. Above this speed, the material adheres to the walls of the dryer or sieve and does not flow. According to the measurements of terminal velocity of stems and leaves of the components of the mixture, the speed of the air should be less than 1.5 m s-1 in the inner drum for the leaves and less than 4.5 m s-1 in middle and outer drums for stems, in such way that only the rotational movement of the dryer moves the material and achieves a greater residence time. In other hand, the best rotary sieve separation efficiencies were achieved when the material is dry, but the results are good in all the moisture contents. The best rotary speed of sieve is within the critical rotational speed, i.e. 20 rpm. However, the rotational speed of the dryer, including the sieve in line with the inner cylinder should be 10 rpm or less in order to achieve the greatest residence times of the material inside the dryer and the best agitation through the use of lifting flights. With a finite element analysis of a dryer prototype, using an air flow allowing speeds of air already stated, I was found that the best performance occurs when, through a cover, air enters the dryer front of the Middle cylinder and when the inner cylinder is formed in its entirety through a sieve. This way, air flows in almost equal amounts by both the middle and external cylinders, while part of the air in the Middle cylinder passes through the sieve towards the inner cylinder. With this, leaves do not adhere to the sieve and flow along drier, thanks to the rotating movement of the drums and the showering caused by the lifting flights. In these conditions, the differences in drying time are reduced to 60 minutes, but the residence time is higher for the stems than for leaves, therefore the components of the mixture of grass run out of the dryer with the same desired moisture content.

Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand.