The Synthesis of Stable Force-Closure Grasps

This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. A grasp on an object is force-closure if and only if we can exert, through the set of contacts, arbitrary forces and moments on the object. So force-closure implies equilibrium exists because zero forces and moment is spanned. In the reverse direction, we prove that a non-marginal equilibrium grasp is also a force-closure grasp, if it has at least two point contacts with friction in 2D, or two soft-finger contacts or three hard-finger contacts in 3D. Next, we prove that all force-closure grasps can be made stable, by using either active or passive springs at the contacts. The thesis develops a simple relation between the stability and stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp depends also on whether the points of contact stick, or slide without friction on straight or curved surfaces of the object. The thesis presents fast and simple algorithms for directly constructing stable fore-closure grasps based on the shape of the grasped object. The formal framework of force-closure and stable grasps provides a partial explanation to why we stably grasp objects to easily, and to why our fingers are better soft than hard.

The Image Irradiance Equation: Its Solution and Application

How much information about the shape of an object can be inferred from its image? In particular, can the shape of an object be reconstructed by measuring the light it reflects from points on its surface? These questions were raised by Horn [HO70] who formulated a set of conditions such that the image formation can be described in terms of a first order partial differential equation, the image irradiance equation. In general, an image irradiance equation has infinitely many solutions. Thus constraints necessary to find a unique solution need to be identified. First we study the continuous image irradiance equation. It is demonstrated when and how the knowledge of the position of edges on a surface can be used to reconstruct the surface. Furthermore we show how much about the shape of a surface can be deduced from so called singular points. At these points the surface orientation is uniquely determined by the measured brightness. Then we investigate images in which certain types of silhouettes, which we call b-silhouettes, can be detected. In particular we answer the following question in the affirmative: Is there a set of constraints which assure that if an image irradiance equation has a solution, it is unique? To this end we postulate three constraints upon the image irradiance equation and prove that they are sufficient to uniquely reconstruct the surface from its image. Furthermore it is shown that any two of these constraints are insufficient to assure a unique solution to an image irradiance equation. Examples are given which illustrate the different issues. Finally, an overview of known numerical methods for computing solutions to an image irradiance equation are presented.

Description and Theoretical Analysis (Using Schemata) of Planner: A Language for Proving Theorems and Manipulating Models in a Robot

Planner is a formalism for proving theorems and manipulating models in a robot. The formalism is built out of a number of problem-solving primitives together with a hierarchical multiprocess backtrack control structure. Statements can be asserted and perhaps later withdrawn as the state of the world changes. Under BACKTRACK control structure, the hierarchy of activations of functions previously executed is maintained so that it is possible to revert to any previous state. Thus programs can easily manipulate elaborate hypothetical tentative states. In addition PLANNER uses multiprocessing so that there can be multiple loci of changes in state. Goals can be established and dismissed when they are satisfied. The deductive system of PLANNER is subordinate to the hierarchical control structure in order to maintain the desired degree of control. The use of a general-purpose matching language as the basis of the deductive system increases the flexibility of the system. Instead of explicitly naming procedures in calls, procedures can be invoked implicitly by patterns of what the procedure is supposed to accomplish. The language is being applied to solve problems faced by a robot, to write special purpose routines from goal oriented language, to express and prove properties of procedures, to abstract procedures from protocols of their actions, and as a semantic base for English.

Changes in innovation styles - comprehensive study of the changes in innovation styles to identify the causes and effects of different influencing factors and capabilities to create a general innovation pattern.

An investigation in innovation management and entrepreneurial management is conducted in this thesis. The aim of the research is to explore changes of innovation styles in the transformation process from a start-up company to a more mature phase of business, to predict in a second step future sustainability and the probability of success. As businesses grow in revenue, corporate size and functional complexity, various triggers, supporters and drivers affect innovation and company's success. In a comprehensive study more than 200 innovative and technology driven companies have been examined and compared to identify patterns in different performance levels. All of them have been founded under the same formal requirements of the Munich Business Plan Competition -a research approach which allowed a unique snapshot that only long-term studies would be able to provide. The general objective was to identify the correlation between different factors, as well as different dimensions, to incremental and radical innovations realised. The 12 hypothesis were formed to prove have been derived from a comprehensive literature review. The relevant academic and practitioner literature on entrepreneurial, innovation, and knowledge management as well as social network theory revealed that the concept of innovation has evolved significantly over the last decade. A review of over 15 innovation models/frameworks contributed to understand what innovation in context means and what the dimensions are. It appears that the complex theories of innovation can be described by the increasing extent of social ingredients in the explanation of innovativeness. Originally based on tangible forms of capital, and on the necessity of pull and technology push, innovation management is today integrated in a larger system. Therefore, two research instruments have been developed to explore the changes in innovations styles. The Innovation Management Audits (IMA Start-up and IMA Mature) provided statements related to product/service development, innovativeness in various typologies, resources for innovations, innovation capabilities in conjunction to knowledge and management, social networks as well as the measurement of outcomes to generate high-quality data for further exploration. In obtaining results the mature companies have been clustered in the performance level low, average and high, while the start-up companies have been kept as one cluster. Firstly, the analysis exposed that knowledge, the process of acquiring knowledge, interorganisational networks and resources for innovations are the most important driving factors for innovation and success. Secondly, the actual change of the innovation style provides new insights about the importance of focusing on sustaining success and innovation ii 16 key areas. Thirdly, a detailed overview of triggers, supporters and drivers for innovation and success for each dimension support decision makers in putting their company in the right direction. Fourthly, a critical review of contemporary strategic management in conjunction to the findings provides recommendation of how to apply well-known management tools. Last but not least, the Munich cluster is analysed providing an estimation of the success probability of the different performance cluster and start-up companies. For the analysis of the probability of success of the newly developed as well as statistically and qualitative validated ICP Model (Innovativeness, Capabilities & Potential) has been developed and applied. While the model was primarily developed to evaluate the probability of success of companies; it has equal application in the situation to measure innovativeness to identify the impact of various strategic initiatives within small or large enterprises. The main findings of the model are that competitor, and customer orientation and acquiring knowledge important for incremental and radical innovation. Formal and interorganisation networks are important to foster innovation but informal networks appear to be detrimental to innovation. The testing of the ICP model h the long term is recommended as one subject of further research. Another is to investigate some of the more intangible aspects of innovation management such as attitude and motivation of mangers. IV

Festival Images: brand image and stakeholders' brand relationship types at the Edinburgh Festival Fringe.

The Edinburgh Festival Fringe (The Fringe) is the largest arts festival in the world and it has inspired the creation of similar festivals world-wide. Since its conception in 1947, the Fringe has demonstrated significant growth in visitor numbers; ticket sales; and its economic contribution. Despite this, the sustainable future of Edinburgh’s festivals is debated as Edinburgh, ‘the Festival City’, faces threats from other festival destinations. Festivals position Edinburgh creatively in contrast to the city’s traditionally perceived image as a cultural-historic centre. Despite this, little research has been undertaken into the creative and cultural significance of Edinburgh’s festivals, including the Fringe. This interdisciplinary research grounded in marketing, tourism, and festival and event management; and underpinned by constructivism, presents an understanding of types of brand relationships that exist between the Fringe and its primary stakeholders. This is achieved through defining both the Fringe brand image and its primary stakeholders; and applying these definitions to the development of a typology of Fringe-stakeholders’ brand relationships. The significance of this study is evident within its topic of inquiry and the research methods applied. In the little-considered arena of arts festivals and their stakeholders, this is the first in-depth study into the Fringe as a festival and festival brand. Within this, the definition of a Fringe brand image contributes to understanding the cultural and creative significance of the Fringe. Furthermore, this research contributes a unique understanding of the types of stakeholders that are engaged with the Fringe. The types of brand relationships that exist between these stakeholders and the Fringe are another significant contribution to knowledge and understanding. While specific to the present context, these findings may prove transferable to further festivals or events, and related areas and industries. The contribution made by this research to the methodological developments in festival and event studies is of additional significance. The application of visual research methods, including semiotic analysis and photo-elicitation within phenomenological interviews, has previously been applied in marketing, consumer, and tourism research, but not to the understanding of festival brands and stakeholders’ brand relationship types. Findings of this research illustrate that existing marketing and consumer brand frameworks and stakeholder theories are applicable to festivals. Further, it is possible to define ‘a’ Fringe brand image which is subjective and contradictory. The unique open-access and organic, operational model of the Fringe facilitates its many contributors, and consumers. Fringe stakeholders may be categorised according to their level of engagement with the Fringe (as primary or secondary) and their particular stakeholder role(s), which are varied and multiple. Fringe-stakeholder brand relationship types are overwhelmingly positive; and are based upon interpersonal relationship dimensions (including friendships, marriages, kinships and partnerships). Fringe-stakeholder brand relationship types can be classified therefore as having similar dimensions to those brand relationship types previously described for consumer products and brands.

A dichotomic search algorithm for mining and learning in domain-specific logics

Ferr?, S. and King, R. D. (2004) A dichotomic search algorithm for mining and learning in domain-specific logics. Fundamenta Informaticae. IOS Press. To appear

The Dirichlet problem in convex bounded domains for operators with L^\infty-coefficients

M.Hieber, I.Wood: The Dirichlet problem in convex bounded domains for operators with L^\infty-coefficients, Diff. Int. Eq., 20, 7 (2007),721-734.

Maximal L p -regularity for the Laplacian on Lipschitz domains

I.Wood: Maximal Lp-regularity for the Laplacian on Lipschitz domains, Math. Z., 255, 4 (2007), 855-875.

Johnny's in the Basement: Keats, Bob Dylan and Influence

Marggraf Turley, Richard, 'Johnny's in the Basement: Keats, Bob Dylan and Influence', In: 'The Monstrous Debt: Modalities of Romantic Influence in Twentieth Century Literature', (Detroit, MI: Wayne State University Press), pp.181-204, 2006 RAE2008

Characteristic Functions for Ergodic Tuples

Gohm, Rolf; Dey, S., 'Characteristic function for ergodic tuples', Integral Equations and Operator Theory 58(1) pp.43-63 RAE2008

The Ornstein-Uhlenbeck semigroup in exterior domains

Wood, Ian; Geissert, M.; Heck, H.; Hieber, M., (2005) 'The Ornstein-Uhlenbeck semigroup in exterior domains', Archiv der Mathematik 86 pp.554-562 RAE2008

On the positivity of the Jansen-He? operator for arbitrary mass

Iantchenko, A.; Jakuba?a-Amundsen, D.H., (2003) 'On the positivity of the Jansen-He? operator for arbitrary mass', Annales of the Institute Henri Poincar? 4 pp.1083-1099 RAE2008

The Dirichlet problem in convex bounded domains for operators with L8-coefficients

Wood, Ian; Hieber, M., (2007) 'The Dirichlet problem in convex bounded domains for operators with L8-coefficients', Differential and Integral Equations 20 pp.721-734 RAE2008

Brachypodium distachyon. A new model system for functional genomics in grasses

John Draper, Luis A.J. Mur, Glyn Jenkins, Gadab C. Ghosh-Biswas, Pauline Bablak, Robert Hasterok,and Andrew P.M. Routledge (2001). Brachypodium distachyon. A new model system for functional genomics in grasses. Plant Physiology, 127 (4), 1539-1555. Sponsorship: BBSRC / Gatsby Foundation RAE2008

The rpf gene of Micrococcus luteus encodes an essential secreted growth factor

Galina V. Mukamolova, Obolbek A. Turapov, Konstantin Kazarian, Miroslav Telkov, Arseny S. Kaprelyants, Douglas B. Kell and Michael Young (2002). The rpf gene of Micrococcus luteus encodes an essential secreted growth factor. Molecular Microbiology, 46 (3), 611-621. Sponsorship: BBSRC / Russian Foundation for Basic Research (grant 00-04-48691)/ WHO Global Programme for Vaccines and Immunization / Wellcome Trust RAE2008