R-covered foliations of hyperbolic 3-manifolds

We produce examples of taut foliations of hyperbolic 3-manifolds which are R-covered but not uniform --- ie the leaf space of the universal cover is R, but pairs of leaves are not contained in bounded neighborhoods of each other. This answers in the negative a conjecture of Thurston `Three-manifolds, foliations and circles I' (math.GT/9712268). We further show that these foliations can be chosen to be C^0 close to foliations by closed surfaces. Our construction underscores the importance of the existence of transverse regulating vector fields and cone fields for R-covered foliations. Finally, we discuss the effect of perturbing arbitrary R-covered foliations.Comment: 17 pages. Published copy, also available at http://www.maths.warwick.ac.uk/gt/GTVol3/paper6.abs.htm

The Role of Structural Reflection in Distributed Virtual Reality

The emergence of collaborative virtual world applications that run over the Internet has presented Virtual Reality (VR) application designers with new challenges. In an environment where the public internet streams multimedia data and is constantly under pressure to deliver over widely heterogeneous user-platforms, there has been a growing need that distributed virtual world applications be aware of and adapt to frequent variations in their context of execution. In this paper, we argue that in contrast to research efforts targeted at improvement of scalability, persistence and responsiveness capabilities, much less attempts have been aimed at addressing the flexibility, maintainability and extensibility requirements in contemporary Distributed VR applications. We propose the use of structural reflection as an approach that not only addresses these requirements but also offers added value in the form of providing a framework for scalability, persistence and responsiveness that is itself flexible, maintainable and extensible

Democratic Fair Allocation of Indivisible Goods

We study the problem of fairly allocating indivisible goods to groups of agents. Agents in the same group share the same set of goods even though they may have different preferences. Previous work has focused on unanimous fairness, in which all agents in each group must agree that their group's share is fair. Under this strict requirement, fair allocations exist only for small groups. We introduce the concept of democratic fairness, which aims to satisfy a certain fraction of the agents in each group. This concept is better suited to large groups such as cities or countries. We present protocols for democratic fair allocation among two or more arbitrarily large groups of agents with monotonic, additive, or binary valuations. For two groups with arbitrary monotonic valuations, we give an efficient protocol that guarantees envy-freeness up to one good for at least $1/2$ of the agents in each group, and prove that the $1/2$ fraction is optimal. We also present other protocols that make weaker fairness guarantees to more agents in each group, or to more groups. Our protocols combine techniques from different fields, including combinatorial game theory, cake cutting, and voting.Comment: Appears in the 27th International Joint Conference on Artificial Intelligence and the 23rd European Conference on Artificial Intelligence (IJCAI-ECAI), 201

Multi instanton calculus on ALE spaces

We study SYM gauge theories living on ALE spaces. Using localization formulae we compute the prepotential (and its gravitational corrections) for SU(N) supersymmetric ${\cal N}=2, 2^*$ gauge theories on ALE spaces of the $A_n$ type. Furthermore we derive the Poincar\'{e} polynomial describing the homologies of the corresponding moduli spaces of self-dual gauge connections. From these results we extract the ${\cal N}=4$ partition function which is a modular form in agreement with the expectations of $SL(2,\Z)$ duality.Comment: 26 pages, few explanations added. version to appear in nucl.phy

Flexible Object Manipulation

Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid bodies, and they may stretch and compress. In this thesis, I explore two major types of flexible materials: cloth and string. For rigid bodies, one of the most basic problems in manipulation is the development of immobilizing grasps. The same problem exists for flexible objects. I have shown that a simple polygonal piece of cloth can be fully immobilized by grasping all convex vertices and no more than one third of the concave vertices. I also explored simple manipulation methods that make use of gravity to reduce the number of fingers necessary for grasping. I have built a system for folding a T-shirt using a 4 DOF arm and a fixed-length iron bar which simulates two fingers. The main goal with string manipulation has been to tie knots without the use of any sensing. I have developed single-piece fixtures capable of tying knots in fishing line, solder, and wire, along with a more complex track-based system for autonomously tying a knot in steel wire. I have also developed a series of different fixtures that use compressed air to tie knots in string. Additionally, I have designed four-piece fixtures, which demonstrate a way to fully enclose a knot during the insertion process, while guaranteeing that extraction will always succeed