bluuebunny/crossref_metadata_2025 huggingface dataset:
Prediction of the Slop in General Spatial Linkages
Authors: Tischler Craig R. , Samuel Andrew E.
Published: July 2003

This paper reviews techniques for assessing how joint clearances affect the precision of multiloop, multifreedom linkages. Slop, or backlash, arises from the small movements as joint clearances are taken up and, as these movements are generally uncontrolled, the precise location of bodies in the linkage becomes uncertain. This is particularly important when such linkages are used as robot manipulators, where the location of the end effector is of interest. A new analytic technique, which is more widely applicable than previous techniques, is presented and demonstrated by way of the Melbourne dextrous finger. We assume that the joints in the linkage are frictionless, and we seek the maximum free movement, bounded by nominal joint clearances, of some body of interest. Theoretical results are compared with experimental measurements collected using a photogrammetric technique.
A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm
Authors: Featherstone Roy
Published: July 2003

This paper presents a recursive, divide-and-conquer algorithm for calculating the forward dynamics of a robot mechanism, or general rigid-body system, on a parallel computer. It features O(log(n)) time complexity on O(n) processors and is the fastest available algorithm for a computer with a large number of processors and low communications costs. It is an exact, noniterative algorithm and is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The algorithm works by recursive application of a formula that constructs the articulatedbody equations of motion of an assembly from those of its constituent parts. The inputs to this formula are the equations of motion of two independent subassemblies, plus a description of how they are to be connected, and the output is the equation of motion of the assembly. Starting with a collection of unconnected rigid bodies, the equations of motion of any rigid-body system can be constructed by repeated application of this formula. This paper, being the first in a two-part series, presents an overview of the new algorithm and a detailed description of the simplest case: unbranched kinematic chains. Details of the general case are presented in Part 2.
The Three-Cubic Method: An Optimal Online Robot Joint Trajectory Generator under Velocity, Acceleration, and Wandering Constraints
Authors: Tondu Bertrand , Bazaz Shafaat Ahmed
Published: July 2003

An original method called the three-cubic method is proposed to generate online robot joint trajectories interpolating given position points with associated velocities. The method is based on an acceleration profile composed of three cubic polynomial segments, which ensure a zero acceleration at each intermediate point. Velocity and acceleration continuity is obtained, and this three-cubics combination allows the analytical solution to the minimum time trajectory problem under maximum velocity and acceleration constraints. Possible wandering is detected and can be overcome. Furthermore, the analytical solution to the minimum time trajectory problem leads to an online trajectory computation.
A Cooperative Hunting Behavior by Mobile-Robot Troops
Authors: Yamaguchi Hiroaki
Published: July 2003

This paper presents a novel feedback-control law for coordinating the motion of multiple holonomic mobile robots to capture/enclose a target by making troop formations. This motion coordination is a cooperative behavior for security against invaders in surveillance areas. Each robot in this control law has its own coordinate system and it senses a target/invader, other robots and obstacles, to achieve this cooperative behavior without making any collision. Although there is no centralized controller and each robot has local feedback that is relative-position feedback, all the robots are asymptotically stabilized, and they make formations enclosing a target. Each robot especially has a vector referred to as a “formation vector,” and the formations are controllable by the vectors. As for determining the formation vectors, we use a reactive-control framework in which robots have some reactions heuristically designed according to this cooperative behavior. Therefore, this robotic system is a hybrid system that consists of a feedback-control law and a reactive-control framework. The validity of this hybrid system is supported by computer simulations.
Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results
Authors: Xydas Nicholas , Kao Imin
Published: July 2003

A new theory in contact mechanics for modeling of soft fingers is proposed to define the relationship between the normal force and the radius of contact for soft fingers by considering general soft-finger materials, including linearly and nonlinearly elastic materials. The results show that the radius of contact is proportional to the normal force raised to the power of, which ranges from 0 to 1/3. This new theory subsumes the Hertzian contact model for linear elastic materials, where D 1/3. Experiments are conducted to validate the theory using artificial soft fingers made of various materials such as rubber and silicone. Results for human fingers are also compared. This theory provides a basis for numerically constructing friction limit surfaces. The numerical friction limit surface can be approximated by an ellipse, with the major and minor axes as the maximum friction force and the maximum moment with respect to the normal axis of contact, respectively. Combining the results of the contactmechanics model with the contact-pressure distribution, the normalized friction limit surface can be derived for anthropomorphic soft fingers. The results of the contact-mechanics model and the pressure distribution for soft fingers facilitate the construction of numerical friction limit surfaces, and will enable us to analyze and simulate contact behaviors of grasping and manipulation in robotics.
On the Dynamic Stability of Grasping
Authors: Xiong Cai-Hua , Li You-Fu , Ding Han , Xiong You-Lun
Published: July 2003

Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, we build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, we determine the conditions associated with the dynamic stability and discuss the effects of various factors on the grasp stability. A quantitative measure for evaluating grasps is then presented. Finally, the effectiveness of the proposed theory is verified via examples.
Using Partial Sensor Information to Orient Parts
Authors: Akella Srinivas , Mason Matthew T.
Published: July 2003

Parts orienting, the process of bringing parts in initially unknown orientations to a goal orientation, is an important aspect of automated assembly. The most common industrial orienting systems are vibratory bowl feeders, which use the shape and mass properties of parts to orient them. Bowl feeders rely on a sequence of mechanical operations and typically do not use sensors. In this paper, we describe the use of partial information sensors along with a sequence of pushing operations to eliminate uncertainty in the orientations of parts. We characterize the shorter execution lengths of sensor-based plans and show that sensor-based plans are more powerful than sensorless plans in that they can bring a larger class of parts to distinct orientations.

We characterize the relation among part shape, orientability, and recognizability to identify conditions under which a single plan can orient and recognize multiple part shapes. Although part shape determines the results of the actions and the sensed information, we establish that differences in part shape do not always lead to differences in part behavior. We show that for any convex polygon, there exists an infinite set of nonsimilar convex polygons that behave identically under linear normal pushes. Furthermore, there exists an infinite set of nonsimilar convex polygons whose behavior cannot be distinguished even with diameter sensing after each push. We have implemented several planners and demonstrated generated plans in experiments.
Model-Adaptive Hybrid Dynamic Control for Robotic Assembly Tasks
Authors: Austin David J. , McCarragher Brenan J.
Published: July 2003

A new task-level adaptive controller is presented for the hybrid dynamic control of robotic assembly tasks. Using a hybrid dynamic model of the assembly task, velocity constraints are derived from which satisfactory velocity commands are obtained. Due to modeling errors and parametric uncertainties, the velocity commands may be erroneous and may result in suboptimal performance. Task-level adaptive control schemes, based on the occurrence of discrete events, are used to change the model parameters from which the velocity commands are determined. Two adaptive schemes are presented: the first is based on intuitive reasoning about the vector spaces involved whereas the second uses a search region that is reduced with each iteration. For the first adaptation law, asymptotic convergence to the correct model parameters is proven except for one case. This weakness motivated the development of the second adaptation law, for which asymptotic convergence is proven in all cases. Automated control of a peg-in-hole assembly task is given as an example, and simulations and experiments for this task are presented. These results demonstrate the success of the method and also indicate properties for rapid convergence.
Solution of the Robot Forward Dynamics Problem by Using a Recursive Procedure Based on the General System Logical Theory
Authors: Tzvetkova G. V. , Resconi G.
Published: July 2003

The paper deals with the forward dynamics problem in robotics. The solution of the problem is found on the basis of a new theory, called “general system logical theory.” It uses operators and transformation of operators extensively to study objects and their relations in the real world. The basic notions and operator equations are given. The forward dynamics problem is presented as a diagram, called “elementary logical system.” The diagram unites a set of variables, a set of operators, and a set of relations between the operators. A generic form of a recursive process using the operators and the Lie product is described. The convergence of the process is discussed. Original operator procedures dedicated to the links of the robot are proposed. The wanted solution is found at the limit of the recursive process. An example is given, as well. The result obtained illustrates the ability of the theory to study robotics problems. The forward dynamics problem is solved in a new way and without inversion of the mass matrix of the robot.
The Convergence of Robotics, Vision, and Computer Graphics for User Interaction
Authors: Hollerbach John M. , Thompson William B. , Shirley Peter
Published: July 2003

Mechanical interfaces to virtual environments and the creation of virtual environments represent important and relatively new application areas for robotics. The creation of immersive interfaces will require codevelopment of visual displays that complement mechanical stimuli with appropriate visual cues, ultimately determined from human psychophysics. Advances in interactive rendering and geometric modeling from computer graphics will play a key role. Examples are drawn from haptic and locomotion interface projects.
Visual Servoing of Robot Manipulators Part I: Projective Kinematics
Authors: Ruf Andreas , Horaud Radu
Published: July 2003

Visual servoing of robot manipulators is a key technique where the appearance of an object in the image plane is used to control the velocity of the end-effector such that the desired position is reached in the scene. The vast majority of visual servoing methods proposed so far uses calibrated robots in conjunction with calibrated cameras. It has been shown that the behavior of visual control loops does not degrade too much in the presence of calibration errors. Nevertheless, camera and robot calibration are complex and time-consuming processes requiring special-purpose mechanical devices, such as theodolites and calibration jigs.

In this paper, we suggest formulating a visual servoing control loop in a nonmetric space, which in our case amounts to the projective space in which a triangulation of the scene using an uncalibrated stereo rig is expressed. The major consequence of controlling the robot in nonmetric space rather than in Euclidean space is that both the robot’s direct kinematic map and the robot’s Jacobian matrix must be defined in this space as well.

The elementary joint-space motions that can be performed by a robot manipulator are pure rotations and pure translations. Traditionally, these motions are represented as Euclidean transformations. Since these motions are observed with an uncalibrated stereo rig, it will be convenient to represent them as projective transformations (homographies) rather than Euclidean transformations. Indeed, it will be shown that rotations and translations can be parameterized as special cases of homographies, which will be called projective rotations and projective translations. The algebraic properties of this nonmetric representation of elementary motions will be thoroughly investigated allowing us to characterize the direct kinematic map and the Jacobian matrix of a manipulator. Therefore, we introduce the concepts of projective kinematics and a projective Jacobian matrix. Unlike the classical robot Jacobian matrix of a manipulator that relates the robot joint-velocities to the kinematic screw associated with the end-effector, we establish a direct relationship between joint-velocities and image-plane velocities. The latter are velocities associated with image points arising from the 3-D to 2-D projection of end-effector points.

Finally, we provide a practical method to estimate the projec tive kinematic model and we describe some preliminary simulated experiments that use this nonmetric model to perform stereo-based servoing. Nevertheless, in-depth analysis of projective control will be the topic of a forthcoming paper.
Progress in Nonprehensile Manipulation
Authors: Mason Matthew T.
Published: July 2003

This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitting things to position them; manipulating things whose shapes are not completely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fundamental principles and at the same time address a variety of new applications.
On the Kinematic Analysis of Robotic Mechanisms
Authors: Nielsen James , Roth Bernard
Published: July 2003

The kinematic analyses, of manipulators and other robotic devices composed of mechanical links, usually depend on the solution of sets of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations and to give bounds on the number of solutions. These solution methods have also led to an understanding of how special choices of the various structural parameters of a mechanism influence the number of solutions inherent to the kinematic geometry of a given structure. In this paper, results from studying the kinematic geometry of such systems are reviewed, and the three most useful solution techniques are summarized. The solution techniques are polynomial continuation, Gröbner bases, and elimination. We then discuss the results that have been obtained with these techniques in the solution of two basic problems, namely, the inverse kinematics for serial-chain manipulators, and the direct kinematics of in-parallel platform devices.
A Steady-Hand Robotic System for Microsurgical Augmentation
Authors: Taylor Russell , Jensen Pat , Whitcomb Louis , Barnes Aaron , Kumar Rajesh , Stoianovici Dan , Gupta Puneet , Wang Zhengxian , Dejuan Eugene , Kavoussi Louis
Published: July 2003

This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration, and hand-eye coordination. Our novel approach, which we call steady-hand micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment.
Redefining Robotics for the New Millennium
Authors: Trevelyan James
Published: July 2003

This paper argues that the term “robotics” needs to be redefined as “the science of extending human motor capabilities with machines,” and uses the author’s experience with robotics over the past 25 years to support this argument. The current definition is tied by default to the term “robot,” which emerged from science fiction—this tie needs to be broken if robotics research is to be based on reality. The paper reviews the author’s research on sheep shearing, vision, calibration, telerobotics, and landmine clearance, and draws some conclusions that point to the need for changing the contemporary view of robotics. A brief survey of subjects addressed by robotics-research journal articles and comments from other robotics researchers support this view. Finally, at a time when many people regard technology, and particularly automation, with considerable skepticism, the proposed definition is easier for ordinary people to understand and support, and it provides more freedom for researchers to find creative approaches.
The Mechanics of Quadrupedal Galloping and the Future of Legged Vehicles
Authors: Schmiedeler J. P. , Waldron K. J.
Published: July 2003

Previous studies have noted that biological quadrupeds adjust their gaits when encountering drag in their locomotion. This paper investigates the hypothesis that these gait adjustments allow the legs to operate at an optimal working length when generating thrust. A 5-DoF dynamic model of a quadruped having a rigid trunk and massless legs is formulated. This model reflects the dimensions and inertial properties of a galloping machine the authors are designing. The constrained, steady-state motion equations governing the transverse and rotary gallops of the model are solved numerically for various levels of drag. The footfall phasing solutions for both forms of the gallop approach a partially in-phase gait, the half-bound, as drag increases. These gait transitions are the result of constraints requiring the legs to operate at their optimal working length when in contact with the terrain. Thus, the behavior of the model supports the original hypothesis. This paper also includes a discussion of future research directions in the field of artificial legged locomotion.
Toward a Theory for Design of Kinematically Constrained Mechanical Assemblies
Authors: Whitney D. E. , Mantripragada R. , Adams J. D. , Rhee S. J.
Published: July 2003

This paper summarizes a theory to support the design of assemblies. It describes a top-down process for designing kinematically constrained assemblies that deliver geometric key characteristics (KCs) that achieve top-level customer requirements. The theory applies to assemblies that take the form of mechanisms (e.g., engines) or structures (e.g., aircraft fuselages). The process begins by creating a kinematic constraint structure and a systematic scheme by which parts are located in space relative to each other, followed by declaration of assembly features that join parts in such a way as to create the desired constraint relationships. This process creates a connective data model containing information to support relevant analyses such as variation buildup, constraint analysis, and establishment of constraint-consistent assembly sequences. Adjustable assemblies, assemblies built using fixtures, and selective assemblies can also be described by this theory.
Shame and Guilt in Child Sexual Offenders
Authors: Proeve Michael , Howells Kevin
Published: July 2003

In this article, the authors build on previous discussions of the possible role of shame and guilt in sexual offending. They review the general psychological literature on shame and guilt and conclude that the distinction between internal and external shame is an important one in considering sexual offenders. The effects of shame and guilt on victim empathy and relapse are discussed, and it is proposed that the phenomena of shame and guilt have implications for treatment beyond those identified in previous studies. Shame is a salient feature in the initial presentation of many sexual offenders against children. Furthermore, aspects of the treatment of sexual offenders can be characterized as a shift from shame toward guilt. Implications of shame and guilt for treatment of sexual offenders are described.
A Controlled, Problem-Solving, Group-Based Intervention with Vulnerable Incarcerated Young Offenders
Authors: Biggam Fiona H. , Power Kevin G.
Published: July 2003

Recent research has indicated that vulnerable incarcerated young offenders—such as those at risk of suicidal behaviour, those on formal protection due to their inability to assimilate into mainstream, and those who are bullied but remain in normal circulation—display impoverished problem-solving abilities. Furthermore, deficits in their problem-solving skills are significantly correlated with levels of anxiety, depression, and hopelessness. This study evaluated the effectiveness of a time-limited, group-based problem-solving training intervention compared with a no-treatment control for vulnerable, incarcerated young offenders. A total of 46 young offenders were equally allocated to intervention or control groups. Intervention participants experienced significant reductions in their levels of anxiety, depression, and hopelessness and improvement in their self-assessed social problem-solving abilities. Gains in aspects of self-assessed problem-solving ability and mental health for the intervention group continued to be evident at 3-month follow-up. Methodological concerns in this study and directions for future research are discussed.
Comparing Inmate Perceptions of Two Residential Substance Abuse Treatment Programs
Authors: Stohr Mary K. , Hemmens Craig , Shapiro Brian , Chambers Brian , Kelley Laura
Published: July 2003

Drug and alcohol abuse by criminal offenders remains at an all time high. Residential substance abuse and treatment (RSAT) programs were developed to address the drug and alcohol treatment needs of inmates in prisons. Typically, such programs range in length from 6 to 12 months, have an Alcoholics Anonymous and/or Narcotics Anonymous component, and occur in a therapeutic community environment. Some programs also include a cognitive self- change component. Inmate participation in their programming is crucial to the success of a therapeutic community treatment environment, yet there is little research on the perceptions of RSAT inmates regarding their programming. In this research, the authors describe, compare, and contrast the perceptions of inmate clients of two RSAT programs in a rural mountain state.
Youth Homicide: A Review of the Literature and a Blueprint for Action
Authors: Heide Kathleen M.
Published: July 2003

This article first synthesizes the literature on clinical and empirical findings related to youth homicide. Thereafter, it reviews the literature with respect to the treatment of juvenile homicide offenders. Although a large body of literature exists, many questions regarding etiology, associated risk factors, intervention strategies, and long-term outcomes remain unanswered. The article concludes with recommendations to guide future research efforts with the aim of increasing understanding of etiological factors associated with juvenile homicide and designing effective intervention strategies. Greater advances in knowledge will follow with the implementation of enhanced methodological designs that examine juvenile homicide across four distinct time frames: the years preceding the homicide, the time period immediately following the homicide, the incarcerative or treatment period, and the postrelease period.
An Empirical Assessment of Content in Criminal Psychological Profiles
Authors: Kocsis Richard N.
Published: July 2003

Although criminal psychological profiling has been in use by law enforcement agencies for almost three decades, there is a paucity of empirical research examining the technique. A fundamental issue that has received little attention is the empirical evaluation of information contained in profiles composed by professional profilers. In this study, a group of profilers, police officers, psychologists, college students, and self-declared psychics were given information from a solved murder investigation, after which the participants composed a written profile predicting the probable offender. Professional profilers tended to write more lengthy profiles that contained more information about the nonphysical attributes of the offender and more information about the crime scene or the offender’s behavior before, during, and after the crime. These results are discussed in terms of their implication for our broader understanding of the technique of profiling and future directions for research into profiling.
Preventing Filicide in Families With Autistic Children
Authors: Palermo Mark T.
Published: July 2003

Autism is a complex neurodevelopmental disorder that affects social behaviors and parent-child interaction. It has been associated with an increased risk of social victimization, and a recent rise in number of acts of filicide of developmentally disabled children has included several cases of autism. In this article, possible risk factors for filicidal behavior in families with autistic children and prevention strategies are reviewed.
The Inpatient Evaluation and Treatment of a Self-Professed Budding Serial Killer
Authors: Reisner Andrew D. , Mcgee Mark , Noffsinger Stephen G.
Published: July 2003

The authors present the case of a man who was hospitalized after claiming that he was about to become a serial killer. The patient presented with extensive written homicidal fantasies and homicidal intentions without evidence of actual homicidal acts. In addition to routine assessments, hospital staff members used case conferences, psychological testing, outside forensic consultation, and a forensic review process to make decisions regarding diagnosis, treatment planning, and discharge. The patient was discharged after 8 months of inpatient treatment and was apparently free of homicidal impulses or symptoms of severe mental illness. A 2-year court commitment allowed for the enactment and potential enforcement of a discharge plan that was endorsed by the patient, the hospital, and community care providers. The authors review diagnostic and risk management issues. Comparisons with known features of typical serial killers are made.
From Animal Cruelty to Serial Murder: Applying the Graduation Hypothesis
Authors: Wright Jeremy , Hensley Christopher
Published: July 2003

Although serial murder has been recorded for centuries, limited academic attention has been given to this important topic. Scholars have attempted to examine the causality and motivations behind the rare phenomenon of serial murder. However, scant research exists which delves into the childhood characteristics of serial murderers. Using social learning theory, some of these studies present supporting evidence for a link between childhood animal cruelty and adult aggression toward humans. Based on five case studies of serial murderers, we contribute to the existing literature by exploring the possible link between childhood cruelty toward animals and serial murder with the application of the graduation hypothesis.
Survival Analysis of Criminal Recidivism of Boot Camp Graduates Using Elements From General and Developmental Explanatory Models
Authors: Benda Brent B.
Published: July 2003

This is a 5-year follow-up study of recidivism among 601 male graduates of a boot camp for adults in a southern state. Cox’s proportional hazard analysis is used to determine the hazard rate of recidivism (arrest or parole violation) of several elements of general and developmental models. Analyses are conducted according to age of onset of unlawful behavior (10 years old or younger and older than 10 years). Findings indicate that caregiving factors have inverse relations with the hazard of recidivism, whereas low self-control, deficits in social skills, peer association with criminals, gang membership, drug use and sales, and carrying weapons have positive relationships with this hazard. These findings are observed irrespective of the age when persons begin committing offenses. Implications of the findings for theoretical models is discussed.
The Dangerous Present: Bridging Past and Future (a Fictional Account of Two Moments in a Group)
Authors: Campbell Jane
Published: July 2003

The great wave of the past continually crashes on to the shore of the future, and as men and women we live at that breaking point. In our work as group analysts, we work with theories that link the past to the future, exploring the histories of our patients for an understanding of the present in order to prepare for the future. But the present that we work with shifts as we speak. We cannot know at the beginning of a group session what will have occurred by the end. In this way our groups mirror the uncertainty and unpredictability of life, pushed forwards as they are by their histories into an unknown future. The present moment bridges the past and the future of the group as its life is enacted within its boundaries. What does it mean to group analysts to work continually at this cutting edge, this breaking point of the wave, amidst the force and the turbulence that can accompany it? Why do we take these risks?
The Place of Clinical Supervision in the Training of Group-Analytic Psychotherapists: Towards a Group-Dynamic Model for Professional Education?
Authors: Scanlon Christopher
Published: July 2003

The process through which group therapists learn how to learn from practice is central to their future professional development and second only to having had a `good enough' experience of personal therapy. However, little has been written about the structural and interpersonal factors, which may help or hinder this learning process. This article will explore these issues with particular attention to the role of clinical supervision. Literature from the general field of professional education will be integrated with more specific literature from the psychodynamic and group-analytic psychotherapies. Implications for the continuing professional development of group therapists will also be discussed.
Sharing the Unconscious Phantasy: The Therapist's Emotional Reaction to the Group-As-A-Whole
Authors: Joannidis Christo
Published: July 2003

This article focuses on the transferential feelings evoked in the group therapist, towards the phantasy object that is the group-as-a-whole. This focus allows the analyst to present a specific viewpoint as to the unconscious function accorded to the therapist of a group-analytic group. It is proposed that this function is essentially a paternal one and forms part of the primitive oedipal triangular matrix that inevitably develops in any group situation.
Psychosomatics and Psychodynamics: An Introductory Review
Authors: Ikkos George
Published: July 2003

The presentation of physical symptoms for medical evaluation and care in the presence of psychopathology constitutes the area of psychosomatic enquiry. The diverse psychiatric conditions with psychosomatic presentations are defined. Underlying psychobiological and psychodynamic mechanisms are discussed. This review of psychodynamics and psychotherapy is particularly focused on conditions where there is concurrent presentation of established organic physical pathology with psychological disorder
Merlin Emrys, First Group Consultant to the British Isle
Authors: Ettin Mark F.
Published: July 2003

Legend suggests that Merlin Emrys, man or myth, was Britain's first group consultant. In the 6th century, he provided guidance necessary for the generative matrix of the fragmented island, besieged from within and without, to transform into an integrated society. Critical aspects of psychotherapy groups and their leadership are explored by elaborating four myths characteristic of Merlin's life and amplifying the symbol of a tower central to each. The birth chamber; exploding fortress, windowed observatory, fellowship of the Round Table and the quest for the Holy Grail exemplify the group process.
Undertaking Psychotherapy Research
Authors: Hall Zaida , Mullee Mark
Published: July 2003

This article argues for more research and audit by group psychotherapists in order to inform clinical practice and to influence resource allocation. Problems encountered in research are described. The need for careful planning is emphasized. The choice of outcome measures is discussed and also the choice of research protocol by symptom questionnaire or by change in use of psychiatric services. An account is given of the CORE outcome measure. Reasons for missing data are given and ways are suggested of analysing incomplete data that can provide useful information, using as an example figures from our outcome study on a slow-open group of 94 patients.
Outpatient Psychoanalytic Individual and Group Psychotherapy in a Nationwide Catamnestic Study in Germany
Authors: Heinzel Roland , Breyer Friedrich , Klein Thomas
Published: July 2003

Unlike many (clinical) outcome projects, this study was designed to measure and evaluate the effects of individual and group-analytical psychotherapy performed in its most prevalent setting: outpatient treatment in the therapist's office. Drawing on a 20 percent sample of all members of the two main associations of psychoanalytical psychotherapists in Germany a one-page questionnaire was sent through their therapists to almost 1,000 former patients. The anonymous return rate was 65 percent. Subjects were asked for self-assessment of their physical, mental, social and overall health status at three points in time: at the beginning and end of their therapy and at the time of assessment (up to five years after completing therapy). Furthermore they were to report on their use of other health care services (visits to physicians, hospital stays, prescription drug consumption) and on their work-loss days. The responses show that the self-assessed health status of patients had improved significantly by the end of the therapy, and this effect had increased even more in the 2'4 years since completing therapy. The number of days in hospital declined on an average of two-thirds, visits to physicians by one-third and work-loss days by one-half Thus a substantial part of the cost of the therapy was saved in other parts of the health system. With the exception of a better cost-benefit relationship for group psychotherapy no significant differences were found in the salutary effects between group and individual forms of therapy.
Assessment of Change after Long-Term Psychoanalytic Group Treatment: Presentation of a Field Study of Outpatients from Private Psychiatric Practice
Authors: Lorentzen Steinar
Published: July 2003

The main purpose of this article is to underline the importance of doing clinical research on long-term, dynamic group psychotherapy as it is carried out in practice (effectiveness study). After a review of the outcome literature, which mainly consists of experimental studies (efficacy studies), an effectiveness study from a private practice will be described with some preliminary results. Experiences from implementation of a research project in clinical practice are presented and the strengths and limitations of the two research methods are discussed.
Holding in Mind: Intersubjectivity, Subject Relations and the Group
Authors: Schulte Phil
Published: July 2003

Intersubjectivity, the intersection of two (or more) subjectivities, is emerging as a key concept in psychoanalysis. The intersubjective perspective stands in contrast to classical psychoanalytic theorizing and implies that much current thinking about subjectivity and objectivity needs revisiting. Views on subjectivity within philosophy, developmental psychology and psychoanalysis have much to offer group analysis (and, one suspects, vice versa). The everyday assumption that our subjectivity is essentially private is challenged. The article takes a fresh look at the notion of countertransference and emphasizes the group conductor's subjectivity as crucially constitutive of the group process.
Jury Deliberation: An Observation Study
Authors: Winship Gary
Published: July 2003

In this article, the way that the jury works is considered from a group-analytic perspective. Observational fieldwork of simulated jury deliberations is presented. The data was gathered from a joint funded Home Office and Law Commission project at the Socio Legal Studies Centre, Oxford in 1995. Inferences are drawn from the observations and the unconscious group processes are considered. The efficacy of the jury process is discussed.
Attachment and Contained Splitting: A Combined Approach of Group and Individual Therapy to the Treatment of Patients Suffering from Borderline Personality Disorder
Authors: de Zulueta Felicity , Mark Peter
Published: July 2003

In this article the authors describe the three-year combined group and individual therapy project for patients suffering from severe borderline personality disorder. The project attempted through careful supervision and regular whole-team meetings to integrate the research findings of attachment theory into the practice of both group and individual therapy. Material from the group sessions follows a description of the project's organization and the relevant attachment theory.
Exploring Social Disintegration
Authors: Rustomjee Sabar
Published: July 2003

Social disintegration is occurring daily in today's modern, democratic society through dehumanization and anti-professionalism, along with enforcement of arbitrary decisions on crucial issues made by ill-informed leaders without adequate research or collaborative consultation with those carrying out the work. All this is justified by global economic rationalism which dictates every part of living today and takes precedence even over human safety and human survival Individuals in society today feel isolated and insignificant as their previously held value systems fail to contain them. For such individuals destructiveness can be seen to be an escape from the unbearable feeling of powerlessness. Mass destructiveness, however; to the extent of disintegrating society, needs to be associated with feelings of primitive omnipotence. In such a state, the problem is not simply that of death wishes, but a wish for total annihilation of the existing society which is perceived to be the enemy. The author explores the psychopathology of social disintegration through the writings and paintings of Edvard Munch, the renowned Norwegian artist, and also attempts to describe how society and its leaders have responded to such annihilatory experiences.
Group Psychodynamics of Witchcraft and Witch-Hunting: Immigrant Adolescents from the Former Soviet Union in Israel
Authors: Tartakovsky Eugene
Published: July 2003

This article describes an incident of witchcraft and witch-hunting in a group of immigrant adolescents from the former Soviet Union living in a boarding school in Israel. The article analyses the specific conditions of isolations and alienation which caused this group to use witchcraft as a means for its empowerment. The analysis reveals the function of witch persecution in purifying the group of frightening sexual and aggressive feelings. Group psychodynamics of witchcraft and witch-hunting are investigated considering underlying mechanisms of splitting and double projection of aggression within the group and against external enemies. Important common features and differences between the witch and the scapegoat are examined and interventions are suggested for dealing with witchcraft and witch-accusations in the group.
Social Theory for Group Therapists
Authors: Craib Ian
Published: July 2003

It is argued that group analysts' references to sociology and sociologists are often limited by their lack of awareness of contemporary theories and debates within the discipline. A distinction is made between sociology and social theory and it is argued that some ideas from contemporary social theory, particularly the work of Habermas and Foucault, provide useful sensitising ideas for understanding the wider meaning of our work and developing a critical conception of our profession and our activities.
Life, Death and the Power of Powerlessness
Authors: Garwood Alfred
Published: July 2003

In this article I endeavour to explore and clarify how the simple starting point of the biological given, the instinct for self-preservation, in part explains man's response to life, death and powerlessness, and how sensitization to primal psychic agony has shaped the development of man's psyche and civilization. General practice exposes the clinician to major events of life from birth to death. Training now addresses the social and psychological aspects of the patient's `management'. The broad mixture of disciplines and experiences struggled with in primary care has shaped and informed this article. In addition, the hypotheses and arguments are derived from my researches into Holocaust trauma in which annihilation threat, powerlessness, loss and the self-preservative instinct are central.
A Contribution to the Understanding of the Social Unconscious
Authors: Brown Dennis
Published: July 2003

An initial attempt is made to discern more details in Foulkes's concept of the social unconscious, relating it to his deeper levels of group communication where it connects with, transcends and penetrates the individual unconscious revealed by psychoanalysis. The work of Earl Hopper is called upon as well as the findings of workshops conducted by the European Association for Transcultural Group Analysis. A tentative classification is proposed involving assumptions, disavowals, social defences and structural oppression representing blocks to communication and awareness within the field of relationships described by Giovanni Lo Verso as collective, transpersonal and transgenerational.
Ego Training in Action in Culture and History
Authors: Engels Elisabeth
Published: July 2003

Referring to Foulkes's thesis on `ego training in action' this article draws particular attention to the cultural and historical impacts on this self-organized learning process of the individual in group analysis. First, the reflections of Norbert Elias on configurations in German culture are presented. In a second step the conceptualization of early infant upbringing will be analysed in a way that is decentred from the mother-child relationship towards the configurations of the surrounding society. Third, it is suggested that the German habitus is reflected in early infant upbringing in the 1930s, in the pattern of detachment. Finally, by focusing on the individual, there will be a brief discussion of how understanding and attachment can prevent the development from pain to violence: by ego training in action in culture and history.
Transgenerational Transmissions and Chosen Traumas: An Aspect of Large-Group Identity
Authors: Volkan Vamik D.
Published: July 2003

Large-group (ethnic, national, religious) identity is defined as the subjective experience of thousands or millions of people who are linked by a persistent sense of sameness while also sharing numerous characteristics with others in foreign groups. The main task that members of a large group share is to maintain, protect, and repair their group identity. A `chosen trauma' is one component of this identity. The term `chosen trauma' refers to the shared mental representation of a massive trauma that the group's ancestors suffered at the hand of an enemy. When a large group regresses, its chosen trauma is reactivated in order to support the group's threatened identity. This reactivation may have dramatic and destructive consequences.
Group Analytic Therapy for Male Survivors of Childhood Sexual Abuse
Authors: Sharpe John , Selley Carry , Low Lorraine , Hall Zaida
Published: July 2003

We describe a slow-open analytic group for male survivors of childhood sexual abuse and emphasize the importance of having both a male and a female co-conductor The Beck Depression Inventory and the Spielberger State Anxiety Scale were used as an outcome audit before and after the group and at six months follow-up. The results supported the clinical impression of overall improvement. We record similarities and distinguishing features between this group and a group for women survivors in which three of the authors had previously been engaged as co-conductors.
The Colditz Syndrome: The Need to Escape from Group Therapy
Authors: Thorndycraft Bill
Published: July 2003

Patients who seek psychotherapy do so with the desire to be assisted in their endeavour to escape and be free of their internal conflicts, psychological pain and the distress which impairs and disturbs their ability to be at peace with themselves and others. Patients who choose group therapy will encounter certain dynamics in the group from the moment of joining, which will provoke the desire to escape from the group and its containing boundaries. The author suggests that, in order to escape successfully from the group - and essentially the neurosis which the patient brings to the group - there is a need to integrate the good enabling/holding aspects of the group with the perceived restrictive/punitive elements. The article uses the met aphor of the group as a castle and makes a comparison with Colditz Castle during the Second World War
A Dynamic Psychotherapy Group for the Elderly
Authors: Evans Sandra , Chisholm Paul , Walshe John
Published: July 2003

This paper describes a dynamic group for elderly chronically mentally ill patients within a day hospital setting. It highlights some of the difficulties of working psychodynamically with older people, but also suggests that psychological mindedness can be learnt as part of the process. Dependency issues can be confronted, facilitating increased autonomy and self-esteem.
Training in Democracy, Democracy in Training: Notes on Group Analysis and Democracy
Authors: Nitzgen Dieter
Published: July 2003

This article focuses on the relationship between group analysis and democracy with special reference to transference phenomena. Accordingly, Foulkes's concept of leadership and transference in groups is compared with Freud's analysis of mass formation, hypnosis and transference love, and the concept of transference further elucidated with particular reference to Laplanche's `General Theory of Seduction'. Finally, the group-analytic process and training is suggested as a training for citizenship, where group analysis and democracy are indissolubly linked.