On the Manipulability of Proportional Representation

This paper presents a new model of voter behaviour under methods of proportional representation (PR). We abstract away from rounding, and assume that a party securing k percent of the vote wins exactly k percent of the available seats. Under this assumption PR is not manipulable by any voter aiming at maximisation of the number of seats in the parliament of her most preferred party. However in this paper we assume that voters are concerned, first and foremost, with the distribution of power in the post-election parliament. We show that, irrespective of which positional scoring rule is adopted, there will always exist circumstances where a voter would have an incentive to vote insincerely. We demonstrate that a voter’s attitude toward uncertainty can influence her incentives to make an insincere vote. Finally, we show that the introduction of a threshold - a rule that a party must secure at least a certain percentage of the vote in order to reach parliament - creates new opportunities for strategic voting. We use the model to explain voter behaviour at the most recent New Zealand general election.

Budget-Balance, Fairness and Minimal Manipulability

A common real-life problem is to fairly allocate a number of indivisible objects and a fixed amount of money among a group of agents. Fairness requires that each agent weakly prefers his consumption bundle to any other agent’s bundle. Under fairness, efficiency is equivalent to budget-balance (all the available money is allocated among the agents). Budget-balance and fairness in general are incompatible with non-manipulability (Green and Laffont, 1979). We propose a new notion of the degree of manipulability which can be used to compare the ease of manipulation in allocation mechanisms. Our measure counts for each problem the number of agents who can manipulate the rule. Given this notion, the main result demonstrates that maximally linked fair allocation rules are the minimally manipulable rules among all budget-balanced and fair allocation mechanisms. Such rules link any agent to the bundle of a pre-selected agent through indifferences (which can be viewed as indirect egalitarian equivalence).

Preferences, actions and voting rules

In this paper we address several issues related to collective dichotomous decision-making by means of quaternary voting rules, i.e., when voters may choose between four actions: voting yes, voting no, abstaining and not turning up-which are aggregated by a voting rule into a dichotomous decision: acceptance or rejection of a proposal. In particular we study the links between the actions and preferences of the actors. We show that quaternary rules (unlike binary rules, where only two actions -yes or no- are possible) leave room for "manipulability" (i.e., strategic behaviour). Thus a preference profile does not in general determine an action profile. We also deal with the notions of success and decisiveness and their ex ante assessment for quaternary voting rules, and discuss the role of information and coordination in this context.

Expression of eph-family receptor tyrosine kinases and ephrins in the tadpole of the frog Xenopus laevis, and possible roles in the development of retinotectal topography

Assembling a nervous system requires exquisite specificity in the construction of neuronal connectivity. One method by which such specificity is implemented is the presence of chemical cues within the tissues, differentiating one region from another, and the presence of receptors for those cues on the surface of neurons and their axons that are navigating within this cellular environment.

Connections from one part of the nervous system to another often take the form of a topographic mapping. One widely studied model system that involves such a mapping is the vertebrate retinotectal projection-the set of connections between the eye and the optic tectum of the midbrain, which is the primary visual center in non-mammals and is homologous to the superior colliculus in mammals. In this projection the two-dimensional surface of the retina is mapped smoothly onto the two-dimensional surface of the tectum, such that light from neighboring points in visual space excites neighboring cells in the brain. This mapping is implemented at least in part via differential chemical cues in different regions of the tectum.

The Eph family of receptor tyrosine kinases and their cell-surface ligands, the ephrins, have been implicated in a wide variety of processes, generally involving cellular movement in response to extracellular cues. In particular, they possess expression patterns-i.e., complementary gradients of receptor in retina and ligand in tectum- and in vitro and in vivo activities and phenotypes-i.e., repulsive guidance of axons and defective mapping in mutants, respectively-consistent with the long-sought retinotectal chemical mapping cues.

The tadpole of Xenopus laevis, the South African clawed frog, is advantageous for in vivo retinotectal studies because of its transparency and manipulability. However, neither the expression patterns nor the retinotectal roles of these proteins have been well characterized in this system. We report here comprehensive descriptions in swimming stage tadpoles of the messenger RNA expression patterns of eleven known Xenopus Eph and ephrin genes, including xephrin-A3, which is novel, and xEphB2, whose expression pattern has not previously been published in detail. We also report the results of in vivo protein injection perturbation studies on Xenopus retinotectal topography, which were negative, and of in vitro axonal guidance assays, which suggest a previously unrecognized attractive activity of ephrins at low concentrations on retinal ganglion cell axons. This raises the possibility that these axons find their correct targets in part by seeking out a preferred concentration of ligands appropriate to their individual receptor expression levels, rather than by being repelled to greater or lesser degrees by the ephrins but attracted by some as-yet-unknown cue(s).

结合操作者意图分析的Internet机器人控制方法研究

互联网传输过程中存在的随机时延,影响了操作者与遥操作机器人之间的实时交互,降低了系统稳定性和操作性能。论文提出一种新的方法,利用动态神经元群模型对操作者发送的控制指令序列进行分析,实现对操作者意图的推断。在随机时延条件下,遥操作机器人能够根据操作者意图和当前环境信息,通过局部自主控制完成期望任务动作。同时可以与主端操作者基于事件的控制指令进行切换,来保证系统的稳定性,提高整个控制系统的操作性能和效率。最后,通过互联网足球机器人平台进行实验,仿真结果验证了所提模型与方法的有效性和可行性。

宜人化双臂操作型服务机器人建模、控制和协调

为宜人化双臂操作型服务机器人建立了动力学模型,该模型的特点是独立的机理建模技术结合黑箱技术共同描述出完整的模型;结合建立的模型,提出一种基于NN的自适应鲁棒控制器,并证明了其渐近稳定性.最后,在分析宜人化双臂操作型服务机器人运动特征的基础上,提出一种基于事件的在线协调的策略.

一种7DOF冗余手臂构形的运动学与动力学特性研究

冗余度机构具有高度的灵活性和避障能力,利用冗余自由度可以改善仿人机器人手臂的运动性能。以实现人体手臂的运动特性和操作灵活性为目标,研制了一种7DOF冗余仿人机器人手臂,根据冗余手臂的机构学特点,研究了手臂的运动学和动力学性能,并在工作空间、肘部关节的自运动能力以及手臂自重引起的关节重力矩等方面与其它两种典型的冗余手臂构形进行了比较分析。

串并联数控机床的作业空间分析

鉴于并联机床普遍存在有效作业空间小、运动控制复杂和实用刚度还不理想等不足．采用了串并联混合式机床运动结构．针对所研究的4—4构型串并联机床,分析了影响作业性能的几何约束条件,采用基于位置逆解模型的极限边界数值搜索法,确定了机床作业空间,并通过数值仿真研究获得了机床运动参数和结构参数对作业空间的影响规律，为优化机床结构尺寸以获得尽可能大的有效作业空间奠定了基础。

Manipulation via Capacities Revisited

This paper revisits manipulation via capacities in centralized two-sided matching markets. Sönmez (1997) showed that no stable mechanism is nonmanipulable via capacities. We show that non-manipulability via capacities can be equivalently described by two types of non-manipulation via capacities: non-Type-I-manipulability meaning that no college with vacant positions can manipulate by dropping some of its empty positions; and non-Type-II-manipulability meaning that no college with no vacant positions can manipulate by dropping some of its filled positions. Our main result shows that the student-optimal stable mechanism is the unique stable mechanism which is non-Type-I-manipulable via capacities and independent of truncations. Our characterization supports the use of the student-optimal stable mechanism in these matching markets because of its limited manipulability via capacities by colleges.

Transferring ownership of public housing to existing tenants: a mechanism design approach

This paper explores situations where tenants in public houses, in a specific neighborhood, are given the legislated right to buy the houses they live in or can choose to remain in their houses and pay the regulated rent. This type of legislation has been passed in many European countries in the last 30-35 years (the U.K. Housing Act 1980 is a leading example). The main objective with this type of legislation is to transfer the ownership of the houses from the public authority to the tenants. To achieve this goal, selling prices of the public houses are typically heavily subsidized. The legislating body then faces a trade-off between achieving the goals of the legislation and allocating the houses efficiently. This paper investigates this specific trade-off and identifies an allocation rule that is individually rational, equilibrium selecting, and group non-manipulable in a restricted preference domain that contains “almost all” preference profiles. In this restricted domain, the identified rule is the equilibrium selecting rule that transfers the maximum number of ownerships from the public authority to the tenants. This rule is preferred to the current U.K. system by both the existing tenants and the public authority. Finally, a dynamic process for finding the outcome of the identified rule, in a finite number of steps, is provided.

Analysis and Control of Robot Manipulators with Kinematic Redundancy

A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators.

On the exhaustiveness of truncation and dropping strategies in many-to-many matching markets

We consider two–sided many–to–many matching markets in which each worker may work for multiple firms and each firm may hire multiple workers. We study individual and group manipulations in centralized markets that employ (pairwise) stable mechanisms and that require participants to submit rank order lists of agents on the other side of the market. We are interested in simple preference manipulations that have been reported and studied in empirical and theoretical work: truncation strategies, which are the lists obtained by removing a tail of least preferred partners from a preference list, and the more general dropping strategies, which are the lists obtained by only removing partners from a preference list (i.e., no reshuffling). We study when truncation / dropping strategies are exhaustive for a group of agents on the same side of the market, i.e., when each match resulting from preference manipulations can be replicated or improved upon by some truncation / dropping strategies. We prove that for each stable mechanism, truncation strategies are exhaustive for each agent with quota 1 (Theorem 1). We show that this result cannot be extended neither to group manipulations (even when all quotas equal 1 – Example 1), nor to individual manipulations when the agent’s quota is larger than 1 (even when all other agents’ quotas equal 1 – Example 2). Finally, we prove that for each stable mechanism, dropping strategies are exhaustive for each group of agents on the same side of the market (Theorem 2), i.e., independently of the quotas.

A further note on the college admission game

When a stable matching rule is used for a college admission market, questions on incentives facing agents of both sides of the market naturally emerge. This note states and proves four important results which fill a gap in the theory of incentives for the college admission model. Two of them have never been demonstrated but have been used along the years and are responsible for the success that this theory has had in explaining empirical economic phenomena.

Tris(trimethylsilyl)silyl substituted alkali- and transition metal guaiazulenides

In der vorliegenden Arbeit wird ein prochirales, aus natürlichen Resourcen gewonnenes Azulen, das Guajazulen genutzt, um neuartige chirale Cyclopentadienyl-Systeme aufzubauen. Mit Alkalimetallhypersilaniden als starke und sperrige Nukleophile gelingt es hypersilylsubstituierte Gujazulenide zu synthetisieren. Diese wurden mittels Elementaranalyse, NMR-Spektroskopie und Röntgendiffraktometrie charakterisiert. Durch nachfolgende Metathesen mit Übergangsmetallhalogeniden konnten in vielen Fällen die entsprechenden Metallocene erhalten werden. Die Experimente enthüllen eine ausgeprägte Regioselektivität der Addition des sperrigen Hypersilyanions an das Guajazulen, die durch das eingesetzte Lösungsmittel graduell verändert werden kann. In nicht-koordinierenden Lösungsmitteln findet man ausschließlich eine Addition an der 6-Position, die 6-Hypersilyl-2,6-dihydroguajazulenide (6-Hyp-Hgual) (M=Li 1, K 2, Cs 4) in ausgezeichneten Ausbeuten liefert. In polaren Solventien erhält man hingegen Mischungen der 6- und 8-Regioisomeren: 2 bzw. (8-Hyp-Hgual) (3). 2 bleibt aber hierbei das Hauptprodukt. Röntgenbeugungsexperimente zeigen, dass 1 im Kristall als dimerer Sandwich-Komplex, meso-[Li2(6-Hyp-Hgual)2], und die THF-Solvate (thf)4K(6-Hyp-Hgual) (2a) sowie (thf)4K(8-Hyp-Hgual) (3a) jeweils als Halb-Sandwich-Komplexe in einer racemischen Mischung vorliegen. Die Verbindungen 1, 2, 3 and 4 eignen sich sehr gut dazu, in Metathesereaktionen als Precursor für neuartige chirale Metallozen-Komplexe eingesetzt zu werden. Insbesondere das Kaliumderivat 2 besticht durch die einfache und relativ preiswerte Synthese, die erzielten hohen Ausbeuten (>80%) und seine leichte Handhabbarkeit. In THF als Solvent wurden die Metallocene 5:5-M’(6-Hyp-Hgual)2 (M’ = Mn 5, Fe 6, Ni 8) und 5:5-Fe(8-Hyp-Hgual)2 (7) erhalten. Bei Verwendung einiger redox-aktiver Metallhalogenide beobachtet man jedoch die Zersetzung der Metallocene unter Bildung des oxidativen Kopplungsproduktes (3-Hyp-6-Hgual)2 (9) sowie der Ausscheidung von Metall. Die Umsetzung von Halogeniden der Gruppe 4 (TiCl3 and M’’Cl4 (M’’ = Ti, Zr, Hf)) mit 2 liefert in THF ausschließlich die Metallozendichloride M’’(6-Hyp-Hgual)2Cl2 (M’’ = Ti (10), Zr (11), Hf (12)). Die erhaltenen Metallozenderivate fallen als Diastereomeren-Gemische an, die sich durch fraktionierende Kristallisation teilweise oder vollständig in ihre Bestandteile, das jeweilige R,R-Racemat und das R,S-meso-Diastereomer auftrennen lassen. Die Strukturen der rac-Diastereomere konnten durch Beugungsexperimente aufgeklärt werden. Durch eine Metathese von 2 mit Hyp-Cl kann eine zweite Hypersilylgruppe in die 2-Position des Guajazulen-Gerüstes eingeführt werden. Das entstehende 2,6-bis(Hyp)-H2gua (14) kann anschließend mit nBuLi in das extrem luft- und feuchtigkeitsempfindliche Li[2,6-bis(Hyp)-Hgual] (15) überführt werden, dass wie 1 eine dimere Sandwich-Struktur aufweist. Durch Einführung des zweiten Hypersilylrestes werden die chemischen Eigenschaften des Azulenids dramatisch verändert. Während Verbindung 1 sich als guter Precursor für Metallocene erwies, gelang es uns bislang nicht, entsprechende Derivate der Verbindung 15 zu isolieren.

Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation

This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.