This paper for the ICRA 2000 Symposium on Dexterous Manipulation presents an overview of research in dexterous manipulation. We rst de ne robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem. Dexterous motion planning is described, which includes grasp plan...

Let Λ be the limiting smallest eigenvalue in the general (β, a)-Laguerre ensemble of random matrix theory. That is, Λ is the n ↑ ∞ distributional limit of the (scaled) minimal point drawn from the density proportional to ∏ 1≤i 0, a > −1; for β = 1, 2, 4 and integer a, this object governs the singular values of certain rank n Ga...

This paper proposes the possible effect on the reduction of fault current and its protective coordination for upcoming smart grid. Fault levels in electrical distribution system are rising due to the increasing presence of distributed generation, and this rising trend is expected to continue in the future. Superconducting fault current limiter is a promising electrical equipment to reduce the e...

We consider the random Schrödinger operator−ε−2∆(d) +ξ (ε)(x), with ∆(d) the discrete Laplacian on Zd and ξ (ε)(x) are bounded and independent random variables, on sets of the form Dε := {x ∈ Zd : xε ∈ D} for D bounded, open and with a smooth boundary, and study the statistics of the Dirichlet eigenvalues in the limit ε ↓ 0. Assuming Eξ (ε)(x) = U(xε) holds for some bounded and continuous funct...

Amongst applications of high temperature superconductors, fault current limiters are foreseen as one of the most promising in power systems. Several topologies have been developed in the last years, taking advantage of different superconductors’ properties. Increasing distributed generation (DG) penetration, based on renewable energy, adds new short-circuit sources to electrical grids, which br...

[1] Why do ocean waves break? Understanding this important and obvious property of the ocean surface has been elusive for decades. This paper investigates causes which lead deep-water two-dimensional initially monochromatic waves to break. Individual wave steepness is found to be the single parameter which determines whether the wave will break immediately, never break or take a finite number o...

We investigate the Nash equilibria of asymmetric, winner-take-all, imperfectly discriminating contests, focusing on existence, uniqueness and rent dissipation. When the contest success function is determined by a production function with decreasing returns for each contestant, equilibria are unique. If marginal product is also bounded, limiting total expenditure is equal to the value of the pri...

This paper presents a construction of a controllable reactor of transformer type (CRT) with multifold magnetic materials, and the construction based on the magnetic-integration techniques is used to weaken the magnetic coupling effect among control windings and eliminate requirement of series current limiting reactance. At last, based on the proposed equivalent circuit of integrated magnetic st...

The reaction is the rate-limiting step in a key catalytic ozone destruction cycle in the lower stratosphere. BrO] 2 ] products In this study a discharge-Ñow reactor coupled with molecular beam mass spectrometry has been used to study the BrO ] 2 reaction over the temperature range 233È348 K. Rate constants were measured under pseudo-Ðrst-order conditions in separate experiments with Ðrst and th...