| We describe a global motion planner for manipulating 3D objects by a dextrous multi-ngered robotic hand. We focus on the so-called re-connguration problem: nd a feasible quasi-static trajectory (motions and contact forces) that moves a hand-object system from an initial grasp to a nal desired connguration of the object. The planner is designed as a two-level process combining a graph search o...

A new approximation technique to find the total series impedance per unit length for quasi-TEM transmission lines including conductor loss has been developed. It is shown through the use of conformal mapping that both frequency dependent skin-depth and proximity effects can be accurately modeled. Comparison between experimental measurements and calculations for twin-lead, coplanar strips, paral...

This paper is concerned with the crossing number of Euclidean minimum-weight Laman graphs in the plane. We first investigate the relation between the Euclidean minimum-weight Laman graph and proximity graphs, and then we show that the Euclidean minimum-weight Laman graph is quasi-planar and 6-planar. Thus the crossing number of the Euclidean minimum-weight Laman graph is linear in the number of...

In this paper, we prove a generalization of Reznikov's theorem on the torsion-property of the Chern-Simons classes and in particular the torsion–property of the Deligne Chern classes (in degrees > 1) of a flat vector bundle on a smooth complex projective variety. We consider the case of a smooth quasi–projective variety with an ir-reducible smooth divisor at infinity. We define the Chern-Simons...

We prove that the perpetual American put option price of an exponential Lévy process whose jumps come from a compound Poisson process is the classical solution of its associated quasi-variational inequality, that it is C except at the stopping boundary and that it is C everywhere (i.e. the smooth pasting condition always holds). We prove this fact by constructing a sequence of functions, each o...

This work, part I in a two-part series, presents: (i) a simple and highly efficient algorithm for evaluation of quasi-periodic Green functions, as well as (ii) an associated boundary-integral equation method for the numerical solution of problems of scattering of waves by doubly periodic arrays of scatterers in three-dimensional space. Except for certain 'Wood frequencies' at which the quasi-pe...

We prove that the perpetual American put option price of an exponential Lévy process whose jumps come from a compound Poisson process is the classical solution of its associated quasi-variational inequality, that it is C except at the stopping boundary and that it is C everywhere (i.e. the smooth pasting condition always holds). We prove this fact by constructing a sequence of functions, each o...

In recent work nonlinear subdivision schemes which operate on manifold-valued data have been successfully analyzed with the aid of so-called proximity conditions bounding the difference between a linear scheme and the nonlinear one. The main difficulty with this method is the verification of these conditions. In the present paper we obtain a very clear understanding of which properties a nonlin...

Let X be a smooth quasi-projective variety over the algebraic closure of the rational number field. We show that the cycle map of the higher Chow group to Deligne cohomology is injective and the higher Hodge cycles are generated by the image of the cycle map as conjectured by Beilinson and Jannsen, if the cycle map to Deligne cohomology is injective and the Hodge conjecture is true for certain ...

In this note, we report on a work jointly done with C. Simpson on a generalization of Reznikov’s theorem which says that the Chern-Simons classes and in particular the Deligne Chern classes (in degrees > 1) are torsion, of a flat vector bundle on a smooth complex projective variety. We consider the case of a smooth quasi–projective variety with an irreducible smooth divisor at infinity. We defi...