The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots.

Natural Language Input for a Computer Problem Solving System

The STUDENT problem solving system, programmed in LISP, accepts as input a comfortable but restricted subset of English which can express a wide variety of algebra story problems. STUDENT finds the solution to a large class of these problems. STUDENT can utilize a store of global information not specific to any one problem, and may make assumptions about the interpretation of ambiguities in the wording of the problem being solved. If it uses such information or makes any assumptions, STUDENT communicates this fact to the user. The thesis includes a summary of other English language questions-answering systems. All these systems, and STUDENT, are evaluated according to four standard criteria. The linguistic analysis in STUDENT is a first approximation to the analytic portion of a semantic theory of discourse outlined in the thesis. STUDENT finds the set of kernel sentences which are the base of the input discourse, and transforms this sequence of kernel sentences into a set of simultaneous equations which form the semantic base of the STUDENT system. STUDENT then tries to solve this set of equations for the values of requested unknowns. If it is successful it gives the answers in English. If not, STUDENT asks the user for more information, and indicates the nature of the desired information. The STUDENT system is a first step toward natural language communication with computers. Further work on the semantic theory proposed should result in much more sophisticated systems.

Truth Maintenance Systems for Problem Solving

The thesis developed here is that reasoning programs which take care to record the logical justifications for program beliefs can apply several powerful, but simple, domain-independent algorithms to (1) maintain the consistency of program beliefs, (2) realize substantial search efficiencies, and (3) automatically summarize explanations of program beliefs. These algorithms are the recorded justifications to maintain the consistency and well founded basis of the set of beliefs. The set of beliefs can be efficiently updated in an incremental manner when hypotheses are retracted and when new information is discovered. The recorded justifications also enable the pinpointing of exactly whose assumptions which support any particular belief. The ability to pinpoint the underlying assumptions is the basis for an extremely powerful domain-independent backtracking method. This method, called Dependency-Directed Backtracking, offers vastly improved performance over traditional backtracking algorithms.

Rapid Losses of Surface Elevation following Tree Girdling and Cutting in Tropical Mangroves.

Discussion Conclusions Materials and Methods Acknowledgments Author Contributions References Reader Comments (0) Figures Abstract The importance of mangrove forests in carbon sequestration and coastal protection has been widely acknowledged. Large-scale damage of these forests, caused by hurricanes or clear felling, can enhance vulnerability to erosion, subsidence and rapid carbon losses. However, it is unclear how small-scale logging might impact on mangrove functions and services. We experimentally investigated the impact of small-scale tree removal on surface elevation and carbon dynamics in a mangrove forest at Gazi bay, Kenya. The trees in five plots of a Rhizophora mucronata (Lam.) forest were first girdled and then cut. Another set of five plots at the same site served as controls. Treatment induced significant, rapid subsidence (−32.1±8.4 mm yr−1 compared with surface elevation changes of +4.2±1.4 mm yr−1 in controls). Subsidence in treated plots was likely due to collapse and decomposition of dying roots and sediment compaction as evidenced from increased sediment bulk density. Sediment effluxes of CO2 and CH4 increased significantly, especially their heterotrophic component, suggesting enhanced organic matter decomposition. Estimates of total excess fluxes from treated compared with control plots were 25.3±7.4 tCO2 ha−1 yr−1 (using surface carbon efflux) and 35.6±76.9 tCO2 ha−1 yr−1 (using surface elevation losses and sediment properties). Whilst such losses might not be permanent (provided cut areas recover), observed rapid subsidence and enhanced decomposition of soil sediment organic matter caused by small-scale harvesting offers important lessons for mangrove management. In particular mangrove managers need to carefully consider the trade-offs between extracting mangrove wood and losing other mangrove services, particularly shoreline stabilization, coastal protection and carbon storage.

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.

The role of payout ratio in the relationship between stock returns and dividend yield

ap Gwilym, Owain, McManus, Ian, and Thomas, Stephen, 'The role of payout ratio in the relationship between stock returns and dividend yield', Journal of Business Finance & Accounting (2004) 31(9-10) pp.1355-1387 RAE2008