Next to subleading soft-graviton theorem in arbitrary dimensions

We study the soft graviton theorem recently proposed by Cachazo and Strominger. We employ the Cachazo, He and Yuan formalism to show that the next to subleading order soft factor for gravity is universal at tree level in arbitrary dimensions.Comment: 14 pages; v2: references added, typos correcte

Conductivity in the gravity dual to massive ABJM and the membrane paradigm

In this paper we analyze the effect of the massive deformation of the ABJM model on the calculation of conductivity of the dual theory. We show that some of the difficulties presented by the dual geometry, in particular the construction of black holes therein, can be at least partially circumvented by adopting a membrane paradigm-like computation of the conductivity, which requires us to know just the effect of the deformation on the {\it horizon} of a black hole in AdS${}_{4}$. The deformation at the horizon itself is found by first deforming the flat space near the horizon, and then using the corresponding solution near the horizon as initial conditions for the Einstein's equations. We find the same result, showing an increase in conductivity, using two types of membrane paradigm computations.Comment: 28 pages, explanations added, paragraph added at the end of section

The Open String Regge Trajectory and Its Field Theory Limit

We study the properties of the leading Regge trajectory in open string theory including the open string planar one-loop corrections. With SU(N) Chan-Paton factors, the sum over planar open string multi-loop diagrams describes the 't Hooft limit N\to\infty. Our motivation is to improve the understanding of open string theory at finite \alpha' as a model of gauge theories. SU(N) gauge theories in D space-time dimensions are described by requiring open strings to end on a stack of N Dp-branes of space-time dimension D=p+1. The large N leading trajectory \alpha(t)=1+\alpha' t+\Sigma(t) can be extracted, through order g^2, from the s\to-\infty limit, at fixed t, of the four open string tree and planar loop diagrams. We analyze the t\to0 behavior with the result that \Sigma(t)\sim-Cg^2(-\alpha' t)^{(D-4)/2}/(D-4). This result precisely tracks the 1-loop Reggeized gluon of gauge theory in D>4 space-time dimensions. In particular, for D\to4 it reproduces the known infrared divergences of gauge theory in 4 dimensions with a Regge trajectory behaving as -\ln(-\alpha^\prime t). We also study \Sigma(t) in the limit t\to-\infty and show that, when D<8, it behaves as \alpha^\prime t/(\ln(-\alpha^\prime t))^{\gamma}, where \gamma>0 depends on D and the number of massless scalars. Thus, as long as 4<D<8, the 1-loop correction stays small relative to the tree trajectory for the whole range -\infty<t<0. Finally we present the results of numerical calculations of \Sigma(t) for all negative t.Comment: 19 pages, 5 figure

Grasping bulky objects with two anthropomorphic hands

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from a CAD model. We then process the point clouds dividing them into two set of slices where we look for sets of triplets of points. Each triplet must accomplish some physical conditions based on the structure of the hands. Then, the triplets of points from each set of slices are evaluated to find a combination that satisfies the force closure condition (FC). Once one valid couple of triplets have been found the inverse kinematics of the system is computed in order to know if the corresponding points are reachable by the hands, if so, motion planning and a collision check are performed to asses if the final grasp configuration of the system is suitable. The paper inclu des some application examples of the proposed approachAccepted versio

The spread of Marxism during the franco regime: Artiach Editorial case (1969-1974)

Este artículo es inédito y complementario al estudio Dirigismo cultural y disidencia editorial en España (1962-1973), Alicante, Publicaciones de la Universidad de Alicante, 2013, versión corregida y ampliada de mi tesis doctoralArtiach Editorial (1969-1974) fue una editorial marxista creada dentro de un proyecto cultural antifranquista mucho más amplio, relacionado con el PCE. En este artículo se estudia partiuclarmente su origen, su producción bibliográfica y su dialéctica con los mecanismos de control ideológico de la dictaduraArtiach Editorial (1969-1974) was a Marxist publishing house created within a broader anti-Francoism cultural project, link to the Comunist Party of Spain (Partido Comunista Español). In this paper we will study its origin, its bibliographic production and its dialectics, along with the mechanisms of ideological control of the dictatorshi