Continuity of Local Time: An applied perspective

Continuity of local time for Brownian motion ranks among the most notable mathematical results in the theory of stochastic processes. This article addresses its implications from the point of view of applications. In particular an extension of previous results on an explicit role of continuity of (natural) local time is obtained for applications to recent classes of problems in physics, biology and finance involving discontinuities in a dispersion coefficient. The main theorem and its corollary provide physical principles that relate macro scale continuity of deterministic quantities to micro scale continuity of the (stochastic) local time.Comment: To appear in: "The fascination of Probability, Statistics and Their Applications. In honour of Ole E. Barndorff-Nielsen on his 80th birthday

Friction-based slippage and tangential force detection in robotic grasping

Mazid, AM ORCiD: 0000-0003-0854-7652© 2015 IEEE.This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads

Friction-based slippage and tangential force detection in robotic grasping

© 2015 IEEE.This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads