Force distribution in manipulation by a robot hand with equality and inequality constraints

The problem of the appropriate distribution of forces among the fingers of a four-fingered robot hand is addressed. The finger-object interactions are modelled as point frictional contacts, hence the system is indeterminate and an optimal solution is required for controlling forces acting on an object. A fast and efficient method for computing the grasping and manipulation forces is presented, where computation has been based on using the true model of the nonlinear frictional cone of contact. Results are compared with previously employed methods of linearizing the cone constraints and minimizing the internal forces.

Political market characteristics and the provision of educational infrastructure in North India

In this paper, we are concerned with the provision of schools in rural North India, particularly with whether such provision is determined by the demographic and economic characteristics of the region or whether local democracy also plays a role. We find that the probability that a governing party loses an election has a positive effect on the provision of schooling infrastructure, while the margin of victory of the governing party has a negative effect. Political reservation for members of the Scheduled Castes (SCs) has a positive effect on schooling infrastructure in villages with a large SC population, but a negative effect overall.

Democracy, equality and toleration

In this paper I comment on a recent "letter" by Burleigh Wilkins addressed to nascent egalitarian democracies which offers advice on the achievement of religious toleration. I argue that while Wilkins’ advice is sound as far as it goes, it is nevertheless underdeveloped insofar as his letter fails to distinguish two competing conceptions of toleration – liberal-pluralist and republican-secularist – both of which are consistent with the advice he offers, but each of which yields very different policy recommendations (as can be seen by consideration of The United States v. Lee in America and, I’affaire du foulard in France). I argue that a democratic society of equals must be committed to liberal-pluralist rather than republican-secularist toleration