Robotic accuracy has long been limited by the compliance of the manipulator. Whether links under bending loads or backlash in gear trains and stretching of belts, the resulting compliance causes a loss of accuracy at the end-effector. Previous research has investigated accuracy of ideally stiff manipulators from many different points of view; however, an overall compliant modeling technique has not been formulated in the literature. This thesis presents a general technique to develop a compliant model for a general six-degree manipulator with the intent of reducing end-effector error for precision manufacturing. Experimental and theoretical work was performed on an American Robot Merlin six-degree of freedom robot. The solution technique assumes each link of the manipulator is subject to stiffnesses in three directions, that is, in the direction of motion, laterally and torsionally. Each of the three stiffnesses is assumed constant, but unknown. Three experimental regimes were established, each covering a successively larger region of the workspace, and 243 data samples were taken within each regime. Samples were taken at twenty-seven data points under nine known loads for each of the first two regimes and at nine locations under twenty-seven loads in the third regime. An OPTOTRAK 3020 non-contact distance-measuring system was used to gather data from twelve sensors for each trial. The results were transformed into three displacements and three rotations of the end-effector. A regression algorithm solved for the unknown stiffnesses of the compliant model based on the measured experimental deflection. Results show that for loads ranging between zero and 445 N, the deflection of the end-effector is predicted within fifteen percent of experimental results for most data points. Furthermore, a load set between zero and 111 N (the stated lift capacity of the manipulator) predicts end point position with an error of less than one-half a millimeter for all tested points. This research provides a technique to quantify the compliance of a general manipulator and develops a model capable of being implemented with open-loop position control with known compliance. / Master of Science

Laws and regulation affect software development, as they frequently demand changes in software’ requirements to protect individuals and businesses regarding security, privacy, governance, sustainability and more. Legal requirements can dictate new requirements or constrain existing ones. The problem of software compliance is howto ensure that the software complies with the norms that the legislation imposes. The problem is particularly challenging because it combines difficultsteps: 1)analyze legal documents, 2) extract requirements from those documents, 3) identify conflicting requirements with those already implemented in software and 4) ensure that software remains compliant even with the changes. Compliance is a continuous process: laws, software and the context within which software system operates changes continuously. The works dealing with the compliance problem focus only on one or two subjects: analyze legal documents or extract requirements or identify conflicts or changes. This thesis deals with all the problems at the same time; the idea is to extract requirements from legal text, compare them with the software requirement, resolve the possible conflicts that may arise, continuously leading with the changes on environment, laws and requirements. For this, this work proposes a framework that is composed of a compliance process and continuous monitoring of environmental changes. The framework deals with different types of laws (security, privacy, transparency, health care) that are represented in explicit norms. The compliance process supports the identification, extraction, comparison and conflict resolution to help software compliance, by producing a compliant set of requirements. The compliance process is based on the semantic annotation and goal model. The semantic annotation helps to extract requirements from thelaw, using patterns. The goal model is used to help the comparison between requirement and to represent requirements in a formal and consistent requirement specification. The process is tool supported; some tools were reused (Desiree and NomosT) to further each step. It was necessary to adapt the tools for the context of the compliance process, creating a guideline, patterns, and heuristics. The continuous monitoring is concerned about the changes that affect the software compliance and has 7 the mechanism to ensure that even with those changes the software will regain compliance. The compliance monitor is basedon agents and Non Functional Requirements. The agents are represented using in i*, the idea is to showthe collaboration between the agents to ensure the continuous compliance. The requirement specification of how each agent should behave was also generated using Business Process Modeling Notation and Desiree language. The Non Functional Requirements catalogue is used to help to define operalizations for the software awareness. The framework validation was made in two parts: first, the compliance process and after all the framework proposed. For the compliance process, the effort and correctness were measured comparing the use of the proposed process andan ad-hoc method. For the entire framework, the example of monitoring the changes in the environment when an automated car is crossing the border between Washington and Canada was used. The study shows that context has a strong influence on the software requirements, and nonconformity problems may incur penalties. The contribution of this work is the Eunomia framework that has a process and goal model perspective with emphasis on monitoring that helps to deal with the compliance challenge. The framework equips the requirements engineering team with a systematic method. Eunomia framework is a tool-supported and systematic process which can be reused to reduce the time effort and to improve the quality of the requirement specification that helps to create a compliant software requirement specification that is compliant over the time.

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Patient compliance is one of the important factors which effect patient outcome in therapeutic trials. As the methods of measuring patient compliance have been developed, the impact of compliance on therapeutic regimen performance could be studied. In this project, patient compliance measures are defined and compliance distributions are introduced. The two are combined from the two sources to improve both the knowledge of drug-outcome combinations and compliance information has been simulated in the case of therapeutic trials. The study of compliance effects on patient outcome was approached in two ways; looking at the fixed compliance effects upon the entire dose-response curve, and looking at the compliance measure as a variable effect on dose-response outcome of patients, the latter by means of statistical simulation. It was shown that patient compliance information affected patient outcome in terms of the achievement of the therapeutic goal. Also, the results of this project support what should be said about the basis of drug-outcome combinations and prescriptions, when we mention patient compliance. Another result is that Compliance-Response-outcome chains were obtained in terms of percentages to respond from simulation of some common design models used in therapeutic trials. / Thesis / Master of Science (MS)

CEJ is an open access e-journal that publishes engaging articles geared towards practitioners, scholars, and students in the compliance field. It offers a platform for compliance experts to share their innovative ideas with others who are interested or are already involved in the compliance industry.

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In 1981, the United States Supreme Court delivered a landmark ruling in Upjohn Co. v. United States. The decision made clear that the protections afforded by the attorneyclient privilege apply to internal corporate investigations. This piece examines the fundamental tenets of Upjohn, discusses some recent challenges to the applicability of privilege to materials gathered during internal investigations, and considers the manner in which the international nature of modern internal investigations adds complexity and uncertainty to the field.

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