Geometry-aware Manipulability Learning, Tracking and Transfer

Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze, control and design the robot dexterity as a function of the articulatory joint configuration. This descriptor can be designed according to different task requirements, such as tracking a desired position or apply a specific force. In this context, this paper presents a novel \emph{manipulability transfer} framework, a method that allows robots to learn and reproduce manipulability ellipsoids from expert demonstrations. The proposed learning scheme is built on a tensor-based formulation of a Gaussian mixture model that takes into account that manipulability ellipsoids lie on the manifold of symmetric positive definite matrices. Learning is coupled with a geometry-aware tracking controller allowing robots to follow a desired profile of manipulability ellipsoids. Extensive evaluations in simulation with redundant manipulators, a robotic hand and humanoids agents, as well as an experiment with two real dual-arm systems validate the feasibility of the approach.Comment: Accepted for publication in the Intl. Journal of Robotics Research (IJRR). Website: https://sites.google.com/view/manipulability. Code: https://github.com/NoemieJaquier/Manipulability. 24 pages, 20 figures, 3 tables, 4 appendice

Estimation of Laplacian spectra of direct and strong product graphs

Calculating a product of multiple graphs has been studied in mathematics, engineering, computer science, and more recently in network science, particularly in the context of multilayer networks. One of the important questions to be addressed in this area is how to characterize spectral properties of a product graph using those of its factor graphs. While several such characterizations have already been obtained analytically (mostly for adjacency spectra), characterization of Laplacian spectra of direct product and strong product graphs has remained an open problem. Here we develop practical methods to estimate Laplacian spectra of direct and strong product graphs from spectral properties of their factor graphs using a few heuristic assumptions. Numerical experiments showed that the proposed methods produced reasonable estimation with percentage errors confined within a +/-10% range for most eigenvalues.Comment: 14 pages, 7 figures; to be published in Discrete Applied Mathematic

Partial wave analysis of the Dirac fermions scattered from Schwarzschild black holes

Asymptotic analytic solutions of the Dirac equation, giving the scattering modes (of the continuous energy spectrum, $E>mc^2$) in Schwarzschild's chart and Cartesian gauge, are used for building the partial wave analysis of Dirac fermions scattered by black holes. The contribution of the bound states to absorption and possible resonant scattering is neglected because of some technical difficulties related to the discrete spectrum that is less studied so far. In this framework, the analytic expressions of the differential cross section and induced polarization degree are derived in terms of scattering angle, mass of the black hole, energy and mass of the fermion. Moreover, the closed form of the absorption cross section due to the scattering modes is derived showing that in the high-energy limit this tends to the event horizon area regardless of the fermion mass (including zero). A graphical study presents the differential cross section analyzing the forward/backward scattering (known also as glory scattering) and the polarization degree as functions of scattering angle. The graphical analysis shows the presence of oscillations in scattering intensity around forward/backward directions, phenomena known as spiral scattering. The energy dependence of the differential cross section is also established by using analytical and graphical methods.Comment: 34 page

Coping with lists in the ifcOWL ontology

Over the past few years, several suggestions have been made of how to convert an EXPRESS schema into an OWL ontology. The conversion from EXPRESS to OWL is of particular use to architectural design and construction industry, because one of the key data models in architectural design and construction industry, namely the Industry Foundation Classes (IFC) is represented using the EXPRESS information modelling language. In each of these conversion options, the way in which lists are converted (e.g. lists of coordinates, lists of spaces in a floor) is key to the structure and eventual strength of the resulting ontology. In this article, we outline and discuss the main decisions that can be made in converting LIST concepts in EXPRESS to equivalent OWL expressions. This allows one to identify which conversion option is appropriate to support proper and efficient information reuse in the domain of architecture and construction

Symmetry analysis of magneto-optical effects: The case of x-ray diffraction and x-ray absorption at the transition metal L23 edge

A general symmetry analysis of the optical conductivity or scattering tensor is used to rewrite the conductivity tensor as a sum of fundamental spectra multiplied by simple functions depending on the local magnetization direction. Using this formalism, we present several numerical examples at the transition metal L23 edge. From these numerical calculations we can conclude that large deviations from the magneto-optical effects in spherical symmetry are found. These findings are in particular important for resonant x-ray diffraction experiments where the polarization dependence and azimuthal dependence of the scattered Bragg intensity is used to determine the local ordered magnetization direction