Experimental Validation of Contact Dynamics for In-Hand Manipulation

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that involve contacts between a gripper, a rigid object, and their environment. The evaluation is done through thousands of controlled experiments designed to capture the motion of object and gripper, and all contact forces and torques at 250Hz. We demonstrate that a contact modeling approach based on Coulomb's friction law and maximum energy principle is effective at reasoning about interaction to first order, but limited for making accurate predictions. We attribute the major limitations to 1) the non-uniqueness of force resolution inherent to grasps with multiple hard contacts of complex geometries, 2) unmodeled dynamics due to contact compliance, and 3) unmodeled geometries dueto manufacturing defects.Comment: International Symposium on Experimental Robotics, ISER 2016, Tokyo, Japa

Action for the eleven dimensional multiple M-wave system

We present the covariant supersymmetric and kappa-symmetric action for a system of N nearly coincident M-waves (multiple M0-brane system) in flat eleven dimensional superspace.Comment: 4+ pages, RevTeX4, no figures. V2: misprints corrected, discussion extended, references added, LaTeX, 10 pages. V3: misprints corrected. V4, extended version, 1+13 pages, to appear in JHE

Nonabelian (2,0) Tensor Multiplets and 3-algebras

Using 3-algebras we obtain a nonabelian system of equations that furnish a representation of the (2,0)-supersymmetric tensor multiplet. The on-shell conditions are quite restrictive so that the system can be reduced to five-dimensional gauge theory along with six-dimensional abelian (2,0) tensor multiplets. We briefly discuss possible applications to D4-branes using a spacelike reduction and M5-branes using a null reduction.Comment: 17 pages, Latex; v2: Typos corrected and references adde

Predictive impact of rare genomic copy number variations in siblings of individuals with autism spectrum disorders.

Identification of genetic biomarkers associated with autism spectrum disorders (ASDs) could improve recurrence prediction for families with a child with ASD. Here, we describe clinical microarray findings for 253 longitudinally phenotyped ASD families from the Baby Siblings Research Consortium (BSRC), encompassing 288 infant siblings. By age 3, 103 siblings (35.8%) were diagnosed with ASD and 54 (18.8%) were developing atypically. Thirteen siblings have copy number variants (CNVs) involving ASD-relevant genes: 6 with ASD, 5 atypically developing, and 2 typically developing. Within these families, an ASD-related CNV in a sibling has a positive predictive value (PPV) for ASD or atypical development of 0.83; the Simons Simplex Collection of ASD families shows similar PPVs. Polygenic risk analyses suggest that common genetic variants may also contribute to ASD. CNV findings would have been pre-symptomatically predictive of ASD or atypical development in 11 (7%) of the 157 BSRC siblings who were eventually diagnosed clinically

Rigidity of SU(2,2|2)-symmetric solutions in Type IIB

We investigate the existence of half-BPS solutions in Type IIB supergravity which are invariant under the superalgebra SU(2,2|2) realized on either AdS_5 x S^2 x S^1 or AdS_5 x S^3 warped over a Riemann surface \Sigma with boundary. We prove that, in both cases, the only solution is AdS_5 x S^5 itself. We argue that this result provides evidence for the non-existence of fully back-reacted intersecting D3/D7 branes with either AdS_5 x S^2 x S^1 x \Sigma or AdS_5 x S^3 x \Sigma near-horizon limits.Comment: 55 page

The Use of the Cancellation Technique to Quantify the Hermann Grid Illusion

When observers view a grid of mid-gray lines superimposed on a black background, they report seeing illusory dark gray smudges at the grid intersections, an effect known as the Hermann grid illusion. The strength of the illusion is often measured using the cancellation technique: A white disk is placed over one of these intersections and the luminance of the disk is reduced until the disk disappears. Its luminance at this point, i.e., the disk's detection threshold, is taken to be a measure of the strength of the illusion. Our experiments showed that some distortions of the Hermann grid, which were sufficient to completely disrupt the illusion, did not reduce the disk's detection threshold. This showed that the cancellation technique is not a valid method for measuring the strength of the Hermann grid illusion. Those studies that attempted to use this technique inadvertently studied a different effect known as the blanking phenomenon. We conclude by presenting an explanation for the latter effect