Symmetry of entropy in higher rank diagonalizable actions and measure classification

An important consequence of the theory of entropy of Z-actions is that the events measurable with respect to the far future coincide (modulo null sets) with those measurable with respect to the distant past, and that measuring the entropy using the past will give the same value as measuring it using the future. In this paper we show that for measures invariant under multiparameter algebraic actions if the entropy attached to coarse Lyapunov foliations fail to display a stronger symmetry property of a similar type this forces the measure to be invariant under non-trivial unipotent groups. Some consequences of this phenomenon are noted

The Stability of Heavy Objects with Multiple Contacts

In both robot grasping and robot locomotion, we wish to hold objects stably in the presence of gravity. We present a derivation of second-order stability conditions for a supported heavy object, employing the tool of Stratified Morse theory. We then apply these general results to the case of objects in the plane

Invariant measures and the set of exceptions to Littlewood's conjecture

We classify the measures on SL (k,R)/SL (k,Z) which are invariant and ergodic under the action of the group A of positive diagonal matrices with positive entropy. We apply this to prove that the set of exceptions to Littlewood's conjecture has Hausdorff dimension zero.Comment: 48 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