Robotic manipulation of a rotating chain

This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in "rotational" equilibrium. The curve traced by the chain in a rotating plane -- its shape function -- can be determined by a simple force analysis, yet it possesses complex multi-solutions behavior typical of non-linear systems. We prove that the configuration space of the uniformly rotating chain is homeomorphic to a two-dimensional surface embedded in $\mathbb{R}^3$. Using that representation, we devise a manipulation strategy for transiting between different rotation modes in a stable and controlled manner. We demonstrate the strategy on a physical robotic arm manipulating a rotating chain. Finally, we discuss how the ideas developed here might find fruitful applications in the study of other flexible objects, such as elastic rods or concentric tubes.Comment: 12 pages, 9 figure

Design of Ad Hoc Wireless Mesh Networks Formed by Unmanned Aerial Vehicles with Advanced Mechanical Automation

Ad hoc wireless mesh networks formed by unmanned aerial vehicles (UAVs) equipped with wireless transceivers (access points (APs)) are increasingly being touted as being able to provide a flexible "on-the-fly" communications infrastructure that can collect and transmit sensor data from sensors in remote, wilderness, or disaster-hit areas. Recent advances in the mechanical automation of UAVs have resulted in separable APs and replaceable batteries that can be carried by UAVs and placed at arbitrary locations in the field. These advanced mechanized UAV mesh networks pose interesting questions in terms of the design of the network architecture and the optimal UAV scheduling algorithms. This paper studies a range of network architectures that depend on the mechanized automation (AP separation and battery replacement) capabilities of UAVs and proposes heuristic UAV scheduling algorithms for each network architecture, which are benchmarked against optimal designs.Comment: 12 page

Shape manipulation using physically based wire deformations

This paper develops an efficient, physically based shape manipulation technique. It defines a 3D model with profile curves, and uses spine curves generated from the profile curves to control the motion and global shape of 3D models. Profile and spine curves are changed into profile and spine wires by specifying proper material and geometric properties together with external forces. The underlying physics is introduced to deform profile and spine wires through the closed form solution to ordinary differential equations for axial and bending deformations. With the proposed approach, global shape changes are achieved through manipulating spine wires, and local surface details are created by deforming profile wires. A number of examples are presented to demonstrate the applications of our proposed approach in shape manipulation

An hierarchical approach to hull form design

As ship design tools become more integrated and more advanced analysis tools are introduced, the ability to rapidly develop and modify hull forms becomes essential. Modern hull design applications give an experienced user the ability to create almost any shape of hull. However, the direct manipulation of hull surface representations is laborious and may limit the exploration of design concept to the fullest extent. Transformation of parent forms and parametric hull generation tools can provide a quick solution, but neither method is conducive for innovative design. A hull design tool is required that can integrate the separate techniques creating a fair hull form surface that can be modified easily throughout the design process. This paper explores the concept of separating the hull surface into global and local features by establishing a hierarchical definition structure and introduces some of the benefits of this approach

An Empirical Study of the Manipulability of Single Transferable Voting

Voting is a simple mechanism to combine together the preferences of multiple agents. Agents may try to manipulate the result of voting by mis-reporting their preferences. One barrier that might exist to such manipulation is computational complexity. In particular, it has been shown that it is NP-hard to compute how to manipulate a number of different voting rules. However, NP-hardness only bounds the worst-case complexity. Recent theoretical results suggest that manipulation may often be easy in practice. In this paper, we study empirically the manipulability of single transferable voting (STV) to determine if computational complexity is really a barrier to manipulation. STV was one of the first voting rules shown to be NP-hard. It also appears one of the harder voting rules to manipulate. We sample a number of distributions of votes including uniform and real world elections. In almost every election in our experiments, it was easy to compute how a single agent could manipulate the election or to prove that manipulation by a single agent was impossible.Comment: To appear in Proceedings of the 19th European Conference on Artificial Intelligence (ECAI 2010

Tension Dynamics and Linear Viscoelastic Behavior of a Single Semiflexible Polymer Chain

We study the dynamical response of a single semiflexible polymer chain based on the theory developed by Hallatschek et al. for the wormlike-chain model. The linear viscoelastic response under oscillatory forces acting at the two chain ends is derived analytically as a function of the oscillation frequency . We shall show that the real part of the complex compliance in the low frequency limit is consistent with the static result of Marko and Siggia whereas the imaginary part exhibits the power-law dependence +1/2. On the other hand, these compliances decrease as the power law -7/8 for the high frequency limit. These are different from those of the Rouse dynamics. A scaling argument is developed to understand these novel results.Comment: 23 pages, 6 figure

Credit risk management in banks: Hard information, soft Information and manipulation

The role of information’s processing in bank intermediation is a crucial input. The bank has access to different types of information in order to manage risk through capital allocation for Value at Risk coverage. Hard information, contained in balance sheet data and produced with credit scoring, is quantitative and verifiable. Soft information, produced within a bank relationship, is qualitative and non verifiable, therefore manipulable, but produces more precise estimation of the debtor’s quality. In this article, we investigate the impact of the information’s type on credit risk management in a principalagent framework with moral hazard with hidden information. The results show that access to soft information allows the banker to decrease the capital allocation for VaR coverage. We also show the existence of an incentive of the credit officer to manipulate the signal based on soft information that he produces. Therefore, we propose to implement an adequate incentive salary package which unables this manipulation. The comparison of the results from the two frameworks (information hard versus combination of hard and soft information) using simulations confirms that soft information gives an advantage to the banker but requires particular organizational modifications within the bank, as it allows to reduce capital allocation for VaR coverage.Hard information; Soft information; risk management; Value at Risk; moral hazard; hidden information; manipulation

Strategic trading and manipulation with spot market power

When a spot market monopolist has a position in a corresponding futures market, he has an incentive to deviate from the spot market optimum to make this position more profitable. Rational futures market makers take this into account when setting prices. We show that the monopolist, by randomizing his futures market position, can strategically exploit his market power at the expense of other futures market participants. Furthermore, traders without market power can manipulate futures prices by hiding their orders behind the monopolist's strategic trades. The moral hazard problem stemming from spot market power thus provides a venue for strategic trading and manipulation that parallels the adverse selection problem stemming from inside information. Klassifikation: D82, G1