Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary

The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data and use a visual feedback dictionary that maps the velocity in the high-dimensional feature space to the velocity of the robotic end-effectors for manipulation. We have evaluated our approach on a set of complex manipulation tasks and human-robot manipulation tasks on different cloth pieces with varying material characteristics.Comment: The video is available at goo.gl/mDSC4

Generalizations of the Erd\H{o}s-Kac Theorem and the Prime Number Theorem

In this paper, we study the linear independence between the distribution of the number of prime factors of integers and that of the largest prime factors of integers. Respectively, under a restriction on the largest prime factors of integers, we will refine the Erd\H{o}s-Kac Theorem and Loyd's recent result on Bergelson and Richter's dynamical generalizations of the Prime Number Theorem. At the end, we will show that the analogue of these results holds with respect to the Erd\H{o}s-Pomerance Theorem as well.Comment: 20 pages. Accepted by the Communications in Mathematics and Statistic