13,945 research outputs found
The political dimension of dance : Mouffeās theory of agonism and choreography
In order to support this argument, I will first turn to the quasi-transcendental philosophical trajectory developed by the French philosopher, Jacques Derrida, before then turning to examine post-foundational politico-philosophical thought, which emphasises the indispensable moment of exclusion in the construction of any social practice, and the dimension of the impossibility of absolute foundation or grounding. This is of particular relevance to Mouffeās agonistic model of democratic politics which proposes the disarticulation and transformation of dominant socio-political discourses around we/they relations. For Mouffe, democratic politics begins by acknowledgingārather than suppressingāantagonistic relations within the practice of hegemony. Insight into Mouffeās political theory provides the basis for grasping the political dimension of art and, moreover, will permit an understanding of it in terms of counter-hegemonic struggle. In the final section, I envisage dance practice from these philosophical and political standpoints with the aim of defining choreography in relation to the sphere of contestation such that it may be understood to contribute to the transformation of democracy and society as a whole. In this regard, what I will be calling agonistic encounters and agonistic objectifications in dance performances will be the articulation of partial and contesting systems of relations allowing different realities to be materialised in the same space
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
A significant challenge in manipulation motion planning is to ensure agility
in the face of unpredictable changes during task execution. This requires the
identification and possible modification of suitable joint-space trajectories,
since the joint velocities required to achieve a specific endeffector motion
vary with manipulator configuration. For a given manipulator configuration, the
joint space-to-task space velocity mapping is characterized by a quantity known
as the manipulability index. In contrast to previous control-based approaches,
we examine the maximization of manipulability during planning as a way of
achieving adaptable and safe joint space-to-task space motion mappings in
various scenarios. By representing the manipulator trajectory as a
continuous-time Gaussian process (GP), we are able to leverage recent advances
in trajectory optimization to maximize the manipulability index during
trajectory generation. Moreover, the sparsity of our chosen representation
reduces the typically large computational cost associated with maximizing
manipulability when additional constraints exist. Results from simulation
studies and experiments with a real manipulator demonstrate increases in
manipulability, while maintaining smooth trajectories with more dexterous (and
therefore more agile) arm configurations.Comment: In Proceedings of the IEEE International Conference on Intelligent
Robots and Systems (IROS'19), Macau, China, Nov. 4-8, 201
Toric algebra of hypergraphs
The edges of any hypergraph parametrize a monomial algebra called the edge
subring of the hypergraph. We study presentation ideals of these edge subrings,
and describe their generators in terms of balanced walks on hypergraphs. Our
results generalize those for the defining ideals of edge subrings of graphs,
which are well-known in the commutative algebra community, and popular in the
algebraic statistics community. One of the motivations for studying toric
ideals of hypergraphs comes from algebraic statistics, where generators of the
toric ideal give a basis for random walks on fibers of the statistical model
specified by the hypergraph. Further, understanding the structure of the
generators gives insight into the model geometry.Comment: Section 3 is new: it explains connections to log-linear models in
algebraic statistics and to combinatorial discrepancy. Section 6 (open
problems) has been moderately revise
Combinatorial degree bound for toric ideals of hypergraphs
Associated to any hypergraph is a toric ideal encoding the algebraic
relations among its edges. We study these ideals and the combinatorics of their
minimal generators, and derive general degree bounds for both uniform and
non-uniform hypergraphs in terms of balanced hypergraph bicolorings,
separators, and splitting sets. In turn, this provides complexity bounds for
algebraic statistical models associated to hypergraphs. As two main
applications, we recover a well-known complexity result for Markov bases of
arbitrary 3-way tables, and we show that the defining ideal of the tangential
variety is generated by quadratics and cubics in cumulant coordinates.Comment: Revised, improved, reorganized. We recommend viewing figures in colo
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