Inhomogeneous extreme forms

G.F. Voronoi (1868-1908) wrote two memoirs in which he describes two reduction theories for lattices, well-suited for sphere packing and covering problems. In his first memoir a characterization of locally most economic packings is given, but a corresponding result for coverings has been missing. In this paper we bridge the two classical memoirs. By looking at the covering problem from a different perspective, we discover the missing analogue. Instead of trying to find lattices giving economical coverings we consider lattices giving, at least locally, very uneconomical ones. We classify local covering maxima up to dimension 6 and prove their existence in all dimensions beyond. New phenomena arise: Many highly symmetric lattices turn out to give uneconomical coverings; the covering density function is not a topological Morse function. Both phenomena are in sharp contrast to the packing problem.Comment: 22 pages, revision based on suggestions by referee, accepted in Annales de l'Institut Fourie

The Hidden Convexity of Spectral Clustering

In recent years, spectral clustering has become a standard method for data analysis used in a broad range of applications. In this paper we propose a new class of algorithms for multiway spectral clustering based on optimization of a certain "contrast function" over the unit sphere. These algorithms, partly inspired by certain Independent Component Analysis techniques, are simple, easy to implement and efficient. Geometrically, the proposed algorithms can be interpreted as hidden basis recovery by means of function optimization. We give a complete characterization of the contrast functions admissible for provable basis recovery. We show how these conditions can be interpreted as a "hidden convexity" of our optimization problem on the sphere; interestingly, we use efficient convex maximization rather than the more common convex minimization. We also show encouraging experimental results on real and simulated data.Comment: 22 page

A stiffness-based quality measure for compliant grasps and fixtures

This paper presents a systematic approach to quantifying the effectiveness of compliant grasps and fixtures of an object. The approach is physically motivated and applies to the grasping of two- and three-dimensional objects by any number of fingers. The approach is based on a characterization of the frame-invariant features of a grasp or fixture stiffness matrix. In particular, we define a set of frame-invariant characteristic stiffness parameters, and provide physical and geometric interpretation for these parameters. Using a physically meaningful scheme to make the rotational and translational stiffness parameters comparable, we define a frame-invariant quality measure, which we call the stiffness quality measure. An example of a frictional grasp illustrates the effectiveness of the quality measure. We then consider the optimal grasping of frictionless polygonal objects by three and four fingers. Such frictionless grasps are useful in high-load fixturing applications, and their relative simplicity allows an efficient computation of the globally optimal finger arrangement. We compute the optimal finger arrangement in several examples, and use these examples to discuss properties that characterize the stiffness quality measure

On the strategic use of risk and undesirable goods in multidimensional screening

A monopolist sells goods with possibly a characteristic consumers dislike (for instance, he sells random goods to risk averse agents), which does not affect the production costs. We investigate the question whether using undesirable goods is profitable to the seller. We prove that in general this may be the case, depending on the correlation between agents types and aversion. This is due to screening effects that outperform this aversion. We analyze, in a continuous framework, both 1D and multidimensional cases