A fixture is a device which immobilizes a part through a maximal set of linearly independent contacts. While many techniques exist to determine an appropriate arrangement of contacts, little research has been done on how to acquire those contacts (i.e., move the part such that it makes contact with the fixture at all intended points). In previous work, it was assumed that the gaps between the p...

This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure set of such grasps and fixtures is the set of external wrenches (forces and torques) that can act on the grasped object and be stably balanced by the contacts. An external wrench belongs to this set if it induces a feas...

The latest Russian regulatory reform (2016) sought to introduce the risk-orientated approach – a move away from “blanket inspections” (or risk regulation reflex term coined by Blanc in 2011) method that has been criticised business community. present paper aims assess its success using administrative data on federal watchdogs’ inspections. We argue this ultimately failed goal regarding overall ...