Workspace evaluation of manipulators through finite-partition of SE(3)

Workspace analysis and optimization are important in a manipulator design. As the complete workspace of a 6-DOF manipulator is embedded into a 6-imensional space, it is difficult to quantify and qualify it. Most literatures only considered the 3-D sub workspaces of the complete 6-D workspace. In this paper, a finite-partition approach of the Special Euclidean group SE(3) is proposed based on the topology properties of SE(3), which is the product of Special Orthogonal group SO(3) and R^3. It is known that the SO(3) is homeomorphic to a solid ball D^3 with antipodal points identified while the geometry of R^3 can be regarded as a cuboid. The complete 6-D workspace SE(3) is at the first time parametrically and proportionally partitioned into a number of elements with uniform convergence based on its geometry. As a result, a basis volume element of SE(3) is formed by the product of a basis volume element of R^3 and a basis volume element of SO(3), which is the product of a basis volume element of D^3 and its associated integration measure. By this way, the integration of the complete 6-D workspace volume becomes the simple summation of the basis volume elements of SE(3). Two new global performance indices, i.e., workspace volume ratio Wr and global condition index GCI, are defined over the complete 6-D workspace. A newly proposed 3 RPPS parallel manipulator is optimized based on this finite-partition approach. As a result, the optimal dimensions for maximal workspace are obtained, and the optimal performance points in the workspace are identified.

The New Face of Global Hollywood: Black Hawk Down and the Politics of Meta-Sovereignty

This paper uses Ridley Scott’s 2001 film blockbuster Black Hawk Down to examine the claim that popular film is the ‘newest component of sovereignty’. While the topic of the film – the 1993 UN/US intervention in Somalia – lends itself to straightforward politicisation, this paper is equally interested in the film’s production history and its reception by global audiences. While initial reactions to the film focused on its ideological commitments (e.g. racism, collusion between Hollywood and the Pentagon, post-11 September patriotism), these readings continually posed an imagined ‘America’ against ‘the world’. This paper argues that Black Hawk Down is not about sovereignty as traditionally conceived, that is, about national interest shaping global affairs. Rather, Black Hawk Down articulates, and is articulated by, a new and emerging global order that operates through inclusion, management and flexibility. Drawing on recent theoretical debates over this new logic of rule, this paper illustrates how Black Hawk Down invoked much more diffuse, complex and deterritorialized categories than national sovereignty. In effect, Scott’s film goes beyond traditional notions of sovereignty altogether: its production, signification and reception deconstruct simple notions of ‘America’ and ‘the world’ in favour of what Hardt and Negri call ‘Empire’, what Zizek calls ‘post-politics’, and what we refer to as ‘meta-sovereignty’.

Entanglement distribution with global control in a star-shaped multi-splitter

Distributed quantum information processing (QIP) is a promising way to bypass problems due to unwanted interactions between elements. However, this strategy presupposes the engineering of protocols for remote processors. In many of them, pairwise entanglement is a key resource. We study a model which distributes entanglement among elements of a delocalized network without local control. The model is efficient both in finite- and infinite-dimensional Hilbert spaces. We suggest a setup of electromechanical systems to implement our proposal.

Global and local contributions to the optical specification of time to contact: Observer sensitivity to composite tau

First-order time remaining until a moving observer will pass an environmental element is optically specified in two different ways. The specification provided by global tau (based on the pattern of change of angular bearing) requires that the element is stationary and that the direction of motion is accurately detected, whereas the specification provided by composite tau (based on the patterns of change of optical size and optical distance) does not require either of these. We obtained converging evidence,for our hypothesis. that observers are sensitive to composite tau in four experiments involving, relative judgments of, time to, passage with forced-choice methodology. Discrimination performance was enhanced in the presence of a local expansion component, while being unaffected when the detection of the direction of heading was impaired. Observers relied on the information carried in composite tau rather than on the information carried in its constituent components. Finally, performance was similar under conditions of observer motion and conditions of object motion. Because composite tau specifies first-order time remaining for a large number of situations, the different ways in which it may be detected are discussed.