Search results for "MANIPULATION"
showing 10 items of 311 documents
Can Euribor be fixed?
2020
The manipulation of Euro Interbank Offered Rate (Euribor) is a problem with great impact on international financial markets. This paper focuses on two aspects of the Euribor benchmark rate for the period 2004–2018: the specific features that make the Index more vulnerable to manipulation and the potential for Index manipulation over the studied period. To address the first aspect, we examine the range and the standard deviation of daily quotes, as well as the panel banks’ quote submissions to the Euribor administrator, the maximum and minimum quotes and the daily variation of submissions. As a result, we found a group of five banks with similar and extreme submission patterns, which might b…
A stepper motor-driven microelectrode positioner
1987
The mechanical elements and the electronic control system from a stepper motor-driven microelectrode positioner is described. The unit embodies a high-precision small step angle hybrid motor. The compact, rugged and totally concentric design of the mechanic, by a spindle mechanism achieves the necessary precision by translating the stepwise rotations of the motor into steps of linear movement. The system takes advantage of commercially available low friction parts such as ball bearings, ball bushings and axles with hardened surfaces. The related electronic control unit is designed around the most recent integrated circuitry which is both sophisticated and economical. Though the described sy…
Dielectrophoretic trapping of multilayer DNA origami nanostructures and DNA origami-induced local destruction of silicon dioxide
2015
DNA origami is a widely used method for fabrication of custom-shaped nanostructures. However, to utilize such structures, one needs to controllably position them on nanoscale. Here we demonstrate how different types of 3D scaffolded multilayer origamis can be accurately anchored to lithographically fabricated nanoelectrodes on a silicon dioxide substrate by DEP. Straight brick-like origami structures, constructed both in square (SQL) and honeycomb lattices, as well as curved "C"-shaped and angular "L"-shaped origamis were trapped with nanoscale precision and single-structure accuracy. We show that the positioning and immobilization of all these structures can be realized with or without thi…
Design and control of a novel 3D casting manipulator
2010
This paper focuses on casting manipulation and presents an innovative mechanism that allows objects placed in a three-dimensional space to be reached with a relatively small robot. Casting manipulation is a technique by which a robotic end-effector is thrown and its ballistic flight is controlled through a tether cable so as to reach a target object. Previous work presented a solution that is viable only when the position of the target object is perfectly known or aligned with the throwing plane. Our work extends the technique by use of a novel mechanical design of the arm, and a suitable control scheme for the flight of the end-effector, which makes it applicable for objects placed at gene…
A Rough-Terrain Casting Robot for the ESA Lunar Robotics Challenge
2009
This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the…
Visual-based Feedback Control of Casting Manipulation
2006
In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position o…
Denoising Autoencoders for Fast Combinatorial Black Box Optimization
2015
Estimation of Distribution Algorithms (EDAs) require flexible probability models that can be efficiently learned and sampled. Autoencoders (AE) are generative stochastic networks with these desired properties. We integrate a special type of AE, the Denoising Autoencoder (DAE), into an EDA and evaluate the performance of DAE-EDA on several combinatorial optimization problems with a single objective. We asses the number of fitness evaluations as well as the required CPU times. We compare the results to the performance to the Bayesian Optimization Algorithm (BOA) and RBM-EDA, another EDA which is based on a generative neural network which has proven competitive with BOA. For the considered pro…
Reordering Method and Hierarchies for Quantum and Classical Ordered Binary Decision Diagrams
2017
We consider Quantum OBDD model. It is restricted version of read-once Quantum Branching Programs, with respect to "width" complexity. It is known that maximal complexity gap between deterministic and quantum model is exponential. But there are few examples of such functions. We present method (called "reordering"), which allows to build Boolean function $g$ from Boolean Function $f$, such that if for $f$ we have gap between quantum and deterministic OBDD complexity for natural order of variables, then we have almost the same gap for function $g$, but for any order. Using it we construct the total function $REQ$ which deterministic OBDD complexity is $2^{\Omega(n/\log n)}$ and present quantu…
RationalizeRoots: Software Package for the Rationalization of Square Roots
2019
The computation of Feynman integrals often involves square roots. One way to obtain a solution in terms of multiple polylogarithms is to rationalize these square roots by a suitable variable change. We present a program that can be used to find such transformations. After an introduction to the theoretical background, we explain in detail how to use the program in practice.
REDUCTION OF CONSTRAINT SYSTEMS
1993
Geometric modeling by constraints leads to large systems of algebraic equations. This paper studies bipartite graphs underlaid by systems of equations. It shows how these graphs make possible to polynomially decompose these systems into well constrained, over-, and underconstrained subsystems. This paper also gives an efficient method to decompose well constrained systems into irreducible ones. These decompositions greatly speed up the resolution in case of reducible systems. They also allow debugging systems of constraints.