A method of achieving diversity in a multiple-input-multiple-output communication system. The algorithm using pseudo-random number generators to select values for a color-capable lighting system to generate animated scenes to fit a particular envisioned theme via defining parameters. A method of manufacturing a gripping device can include deforming a sleeve, thereby changing a diameter of the sleeve, aligning teeth on the sleeve across at least one slot in the sleeve, and heat treating the sleeve while the sleeve remains deformed and the teeth remain aligned. Each ribbon piece has parallel cords coated with rubber.