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Tactile sensors are key components for a robot hand system, which are usually used to obtain the object's features. The use of tactile sensors to obtain information from the objects is an open topic of research. In this paper, a new strategy for in-hand extraction of object's properties and for control of the interaction forces with robot fingers, mainly based on tactile data, is presented. The scope of this strategy is to grasp and manipulate solid objects, including rigid and soft bodies. Assuming that the hand is in an initial configuration in which the object is grasped, the properties' extraction approach is executed. After the extraction of properties is finished, the object can be classified in regard to a general body listing: rigid body, soft elastic body, or soft plastic object. Once the object is classified, for in-hand manipulation tasks, the contact points between the object grasped and the fingers are maintained using the information given by the tactile sensors in order to perform manipulation tasks. Each task is defined by a sequence of basic actions, in which the contact points and applied forces are adapted depending on the action to be performed and the estimated features for the object. The presented approach tries to imitate the behavior of human beings, in which the applied forces by the fingers are changed when the human estimates the rigidity of a body and when the fingers react to unexpected movements of the object to keep the contact points. ; This research is supported by the Spanish Ministry of Economy, European FEDER funds, the Valencia Regional Government, and University of Alicante, through projects DPI2015-68087-R, PROMETEO/2013/085, and GRE 15-05.

The problems of budgetary control in the EC have been assuming ever greater political importance recently. Yet behind the facade of concern is a lack of knowledge of the extent of the problem, and a seeming inability to take effective action to deal with some of the best known aspects of it. It is argued here that the achievement of budgetary control is particularly difficult in the context of the EC for a variety of reasons. Using a simple cyclical model of budgetary control, the constraints can be grouped into four main categories – conceptual, structural, operational and political. These are examined in turn drawing specific examples from community documentation. Finally, certain avenues for reform are suggested which may be implemented in the future.

In the context of alleged and actual fraud and the need for greater accountability. Includes discussion of conceptual, structural, operational, and political constraints on budget control.

When the indigenous coca grower Evo Morales was elected president in Bolivia in 2005, he promised to fundamentally change 25 years of the U.S.-funded and dictated "drug war." The new policy values the coca leaf and relies on local organizations to control coca production within limits set by the government. A review of its successes and limitations to date suggests that Bolivia's experience may offer lessons for drug control in other parts of the hemisphere.

Abstract: Measures introduced to tackle anti‐social behaviour have been described as crime control through the coming together of social housing management and policing. This suggests that a new form of social control is coming into effect. Taking Cohen's classic analysis of social control, it is possible to discern the extent to which the control of anti‐social behaviour is characterised by a blurring of boundaries, behaviourism, mesh‐thinning and net‐widening. This leads to a discussion of the inclusionary and exclusionary aspects of anti‐social behaviour as a phenomenon which is linked to the changing constellation of 'care and control' professions.

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The article considers the possibility of expressing the contested nature of social work via objects and their stories. Two Collections of objects and their stories (object/stories) are analysed and compared – an English language Collection (Obj1) and a Latin American Spanish language Collection (Obj2). A thematic analysis results in a schema of three categories of object/story: practical, symbolic, and totemic. The object/stories vary in the degree to which they reflect a social work that is community-oriented or focused on the individual. The two Collections are analysed for similarities and differences, and the authors consider wider applications of the learning from the project.