Collins Effect from Polarized SIDIS and e+e−e^+e^- Data

The recent data on the transverse single spin asymmetry $A_{UT}^{\sin(\phi_h+\phi_S)}$ from HERMES and COMPASS Collaborations are analysed within LO parton model with unintegrated parton distribution and fragmentation functions. A fit of SIDIS data from HERMES Collaboration is performed leading to the extraction of favoured and unfavoured Collins fragmentation functions. A very good description of COMPASS data is obtained. BELLE $e^+e^-$ data are shown to be compatible with our estimates based on the extracted Collins fragmentation functions. Predictions for $A_{UT}^{\sin(\phi_h+\phi_S)}$ asymmetries at JLab and COMPASS operating on a proton target are given.Comment: Talk presented at SPIN2006, 4 pages, 6 figure

Deep Haptic Model Predictive Control for Robot-Assisted Dressing

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying high forces to a person's body. We present a deep recurrent model that, when given a proposed action by the robot, predicts the forces a garment will apply to a person's body. We also show that a robot can provide better dressing assistance by using this model with model predictive control. The predictions made by our model only use haptic and kinematic observations from the robot's end effector, which are readily attainable. Collecting training data from real world physical human-robot interaction can be time consuming, costly, and put people at risk. Instead, we train our predictive model using data collected in an entirely self-supervised fashion from a physics-based simulation. We evaluated our approach with a PR2 robot that attempted to pull a hospital gown onto the arms of 10 human participants. With a 0.2s prediction horizon, our controller succeeded at high rates and lowered applied force while navigating the garment around a persons fist and elbow without getting caught. Shorter prediction horizons resulted in significantly reduced performance with the sleeve catching on the participants' fists and elbows, demonstrating the value of our model's predictions. These behaviors of mitigating catches emerged from our deep predictive model and the controller objective function, which primarily penalizes high forces.Comment: 8 pages, 12 figures, 1 table, 2018 IEEE International Conference on Robotics and Automation (ICRA

Mine and me: exploring the neural basis of object ownership.

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Shortcomings of the Bond Orientational Order Parameters for the Analysis of Disordered Particulate Matter

Local structure characterization with the bond-orientational order parameters q4, q6, ... introduced by Steinhardt et al. has become a standard tool in condensed matter physics, with applications including glass, jamming, melting or crystallization transitions and cluster formation. Here we discuss two fundamental flaws in the definition of these parameters that significantly affect their interpretation for studies of disordered systems, and offer a remedy. First, the definition of the bond-orientational order parameters considers the geometrical arrangement of a set of neighboring spheres NN(p) around a given central particle p; we show that procedure to select the spheres constituting the neighborhood NN(p) can have greater influence on both the numerical values and qualitative trend of ql than a change of the physical parameters, such as packing fraction. Second, the discrete nature of neighborhood implies that NN(p) is not a continuous function of the particle coordinates; this discontinuity, inherited by ql, leads to a lack of robustness of the ql as structure metrics. Both issues can be avoided by a morphometric approach leading to the robust Minkowski structure metrics ql'. These ql' are of a similar mathematical form as the conventional bond-orientational order parameters and are mathematically equivalent to the recently introduced Minkowski tensors [Europhys. Lett. 90, 34001 (2010); Phys. Rev. E. 85, 030301 (2012)]

A Political Economy Approach to Reforming the Foreign Corrupt Practices Act

Prohibitions against transnational bribery suffer from a paradoxical problem of simultaneous over- and under-enforcement. On the “supply-side,” U.S. enforcement against bribery through the Foreign Corrupt Practices Act (FCPA) is increasingly over-aggressive, while enforcement by other developed economies is nearly non-existent. On the “demand-side,” governments of developing economies where bribes take place often have neither an interest in nor the capacity to rein in their corrupt officials. In light of these shortcomings, this Article proposes reforming the FCPA as follows. First, the SEC should cease paying profits disgorged by corporate defendants into the U.S. Treasury. Second, disgorgements should instead be transferred to the Host country where bribery took place, conditional on the Host government’s cooperation with the FCPA investigation. And third, if cooperation is not forthcoming, disgorgement proceeds should be transferred to the Organisation for Economic Co-operation and Development (OECD) Working Group—an international organization designed to facilitate the enforcement of the OECD Convention on Combating Bribery. Reforming FCPA enforcement in this manner would re-allocate the proceeds from anti-bribery regulation on a global scale so as to properly align the incentives of the parties involved and provide greater access to the information required for effective enforcement

Reframing International Financial Regulation After the Global Financial Crisis: Rational States and Interdependence, not Regulatory Networks and Soft Law

The British bank Northern Rock failed on September 14, 2007; U.S. investment bank Bear Stearns collapsed on March 17, 2008 and was subject to a government-engineered takeover by J.P. Morgan Chase; and, on the night of September 15, 2008, U.S. investment bank Lehman Brothers filed for bankruptcy and sent global financial markets into disarray the following Monday morning. These financial institutions shared several features in common prior to their downfall, but perhaps the most curious is that they were each considered fully compliant with the second generation framework for the Basel Accords on Capital Adequacy (Basel II), an international agreement requiring banks to maintain capital levels consistent with then, state-of-the-art risk metrics. Basel II, it turns out, was insufficient to ward off the insolvency of many large, multinational financial institutions. The Basel Committee on Bank Supervision was not the only international body exercising oversight of financial firms and markets prior to the global financial crisis of 2008 (2008 Crisis). One function of the International Monetary Fund (IMF) was to provide continuous “surveillance” of international markets. Among other occasions, it did so informally in September of 2008 by publishing statements of its president Olivier Blanchard, entitled “Blanchard Sees Global Economy Weathering Financial Storm.” Contrary to the IMF’s forecast, however, Lehman Brothers collapsed just two weeks later and the global economy capsized in the ensuing financial storm

Overlapping Legal Rules in Financial Regulation and the Administrative State

Reforms which seek to overhaul the Dodd-Frank Acthave begun to gain support within the TrumpAdministration and Congress. The leading proposals gobeyond technical matters and reflect a wholesalecritique: financial regulation has become tooburdensome, too complex, and grants too muchdiscretion to regulators. This Article argues that what isreally at stake in these debates is the distinct issue of“regulatory overlap”—the joint use of multiple legalrules to address a common market failure. It begins bydeveloping a general framework for analyzingoverlapping legal rules of all kinds. That framework isthen applied in case studies of the two cornerstones offinancial regulation: capital adequacy requirements andresolution authority procedures.The most direct contribution of this Article is tosubstantive issues in financial regulation. Each casestudy yields insights about particular portions of theDodd-Frank Act that pending reforms attempt toeliminate, as well as the big picture problems of systemicrisk and banks that are “Too Big To Fail.” On a moretheoretical level, it also situates the concept of regulatoryoverlap within the law-and-economics literature on the optimal design of legal rules, where it is otherwiseconspicuously absent. Lastly, this Article shows how ananalysis of overlapping rules in finance carries lessonsfor the regulatory process as a whole. It thereby adds toscholarship on administrative law, especially toresearch in that area that deals with a related set ofproblems concerning agency jurisdiction, cost-benefitanalysis procedures, and the role of uncertainty in thepolicymaking environment