The Synthesis of Stable Grasps in the Plane

This paper addresses the problem of synthesizing stable grasps on arbitrary planar polygons. Each finger is a virtual spring whose stiffnes and compression can be programmed. The contacts between the finger tips and the object are point contacts without friction. We prove that all force-closure grasps can be made stable, and it costs 0(n) time to synthesize a set of n virtual springs such that a given force closure grasp is stable. We can also choose the compliance center and the stiffness matrix of the grasp, and so choose the compliant behavior of the grasped object about its equilibrium. The planning and execution of grasps and assembly operations become easier and less sensitive to errors.

The topological behaviour of 3D null points in the Sun's corona

Brown D. S. and Priest E. R. 2001, The topological behaviour of 3D null points in the Sun's corona, Astronomy and Astrophysics, 367, 339-346

Problems of maximal mean resistance on the plane

Plakhov, A.Y.; Gouveia, P.D.F., (2007) 'Problems of maximal mean resistance on the plane', Nonlinearity 20(9) pp.2271-2287 RAE2008

Gauge/gravity duality and the interplay of various fractional branes

We consider different types of fractional branes on a Z2 orbifold of the conifold and analyze in detail the corresponding gauge/gravity duality. The gauge theory possesses a rich and varied dynamics, both in the UV and in the IR. We find the dual supergravity solution, which contains both untwisted and twisted 3-form fluxes, related to what are known as deformation and N=2 fractional branes, respectively. We analyze the resulting renormalization group flow from the supergravity perspective, by developing an algorithm to easily extract it. We find hints of a generalization of the familiar cascade of Seiberg dualities due to a nontrivial interplay between the different types of fractional branes. We finally consider the IR behavior in several limits, where the dominant effective dynamics is either confining in a Coulomb phase or runaway, and discuss the resolution of singularities in the dual geometric background. © 2008 The American Physical Society.

Consistent deformations of [p,p]-type gauge field theories

Using BRST-cohomological techniques, we analyze the consistent deformations of theories describing free tensor gauge fields whose symmetries are represented by Young tableaux made of two columns of equal length p, p > 1. Under the assumptions of locality and Poincaré invariance, we find that there is no consistent deformation of these theories that non-trivially modifies the gauge algebra and/or the gauge transformations. Adding the requirement that the deformation contains no more than two derivatives, the only possible deformation is a cosmological-constant-like term. © SISSA/ISAS 2004.

Spin three gauge theory revisited

We study the problem of consistent interactions for spin-3 gauge fields in flat spacetime of arbitrary dimension 3$">n>3. Under the sole assumptions of Poincaré and parity invariance, local and perturbative deformation of the free theory, we determine all nontrivial consistent deformations of the abelian gauge algebra and classify the corresponding deformations of the quadratic action, at first order in the deformation parameter. We prove that all such vertices are cubic, contain a total of either three or five derivatives and are uniquely characterized by a rank-three constant tensor (an internal algebra structure constant). The covariant cubic vertex containing three derivatives is the vertex discovered by Berends, Burgers and van Dam, which however leads to inconsistencies at second order in the deformation parameter. In dimensions 4$">n>4 and for a completely antisymmetric structure constant tensor, another covariant cubic vertex exists, which contains five derivatives and passes the consistency test where the previous vertex failed. © SISSA 2006.

Parity-violating vertices for spin-3 gauge fields

The problem of constructing consistent parity-violating interactions for spin-3 gauge fields is considered in Minkowski space. Under the assumptions of locality, Poincaré invariance, and parity noninvariance, we classify all the nontrivial perturbative deformations of the Abelian gauge algebra. In space-time dimensions n=3 and n=5, deformations of the free theory are obtained which make the gauge algebra non-Abelian and give rise to nontrivial cubic vertices in the Lagrangian, at first order in the deformation parameter g. At second order in g, consistency conditions are obtained which the five-dimensional vertex obeys, but which rule out the n=3 candidate. Moreover, in the five-dimensional first-order deformation case, the gauge transformations are modified by a new term which involves the second de Wit-Freedman connection in a simple and suggestive way. © 2006 The American Physical Society.

Consistent couplings between fields with a gauge freedom and deformations of the master equation

The antibracket in the antifield-BRST formalism is known to define a map Hp × Hq → Hp + q + 1 associating with two equivalence classes of BRST invariant observables of respective ghost number p and q an equivalence class of BRST invariant observables of ghost number p + q + 1. It is shown that this map is trivial in the space of all functionals, i.e. that its image contains only the zeroth class. However, it is generically non-trivial in the space of local functionals. Implications of this result for the problem of consistent interactions among fields with a gauge freedom are then drawn. It is shown that the obstructions to constructing non-trivial such interactions lie precisely in the image of the antibracket map and are accordingly non-existent if one does not insist on locality. However consistent local interactions are severely constrained. The example of the Chern-Simons theory is considered. It is proved that the only consistent, local, Lorentz covariant interactions for the abelian models are exhausted by the non-abelian Chern-Simons extensions. © 1993.

Trembling the plane of immanence: media arts philosophy and the re-vision of art (or what’s acoustics got to do with the visual?)

Invited lecture at the Royal Academy of Art.

Leaving on a jet plane of immanence

This is about politics and protest, or rather about a politics of protest, and of rebellion. But it is also about creativity and the way in which theory and practice combine within the context of the ‘productive/creative’ process. In this case the combination is explicit and can be traced along a clear trajectory. The following will set out the way in which the accompanying piece of music – a cover of the 1969 protest song Leaving on a Jet Plane by Peter, Paul & Mary - came into being. In doing so it will make reference to a number of theoretical ideas/concepts that fed into the productive process and/or appeared relevant postproduction. It will draw on various aspects of thought from Heidegger (Standing reserve, Enframing and Authenticity), Camus (The Rebel), Foucault (Luminosity), and Deleuze (Immanence, Difference and Repetition and The Fold). [From the Author].

Application of regularization methods to damage detection in large scale plane frame structures using incomplete noisy modal data

This paper presents an approach for detecting local damage in large scale frame structures by utilizing regularization methods for ill-posed problems. A direct relationship between the change in stiffness caused by local damage and the measured modal data for the damaged structure is developed, based on the perturbation method for structural dynamic systems. Thus, the measured incomplete modal data can be directly adopted in damage identification without requiring model reduction techniques, and common regularization methods could be effectively employed to solve the developed equations. Damage indicators are appropriately chosen to reflect both the location and severity of local damage in individual components of frame structures such as in brace members and at beam-column joints. The Truncated Singular Value Decomposition solution incorporating the Generalized Cross Validation method is introduced to evaluate the damage indicators for the cases when realistic errors exist in modal data measurements. Results for a 16-story building model structure show that structural damage can be correctly identified at detailed level using only limited information on the measured noisy modal data for the damaged structure.