To be operated in unknown or complex environments, modern robots have to fulfill various challenging criteria. Among them, one finds requirements such as a high level of robustness withstand impacts and the capabilities physically interact safe manner. One way achieve that is integrate variable-stiffness actuators into systems, enabling compliant behavior through elastic components providing ad...

We provide a link between topological graph theory and pseudoline arrangements from the theory of oriented matroids. We investigate and generalize a function f that assigns to each simple pseudoline arrangement with an even number of elements a pair of complete-graph embeddings on a surface. Each element of the pair keeps the information of the oriented matroid we started with. We call a simple...

We show that every complete intersection of Laurent polynomials in an algebraic torus is isomorphic to a complete intersection of master functions in the complement of a hyperplane arrangement, and vice versa. We call this association Gale duality because the exponents of the monomials in the polynomials annihilate the weights of the master functions and linear forms defining the two systems al...

We describe a new subdivision method to efficiently compute the topology and the arrangement of implicit planar curves. We emphasize that the output topology and arrangement are guaranteed to be correct. Although we focus on the implicit case, the algorithm can also treat parametric or piecewise linear curves without much additional work and no theoretical difficulties. The method isolates sing...

Abstract Context Linear landscape elements (LLEs) such as ditches and hedgerows can increase the ecological connectivity of habitat embedded within agricultural areas by acting corridors for animal movement. However, we lack knowledge on how spatial arrangement LLEs influence dispersal, impeding our ability to offer robust advice best add new improve connectivity. Objectives To examine width or...

A linear arrangement problem, called the minmax mincut problem, emerging from circuit design is investigated. Its input is a series-parallel directed hypergraph (SPDH), and the output is a linear arrangement (and a layout). The primary objective is to minimize the longest path, and the secondary objective is to minimize the cutwidth. It is shown that cutwidth D, subject to longest path minimiza...

0. Introduction 336 1. Main results 337 1.1. Semisimple groups 337 1.2. Factorization problem 338 1.3. Total positivity 339 1.4. Generalized minors 339 1.5. The twist maps 340 1.6. Formulas for factorization parameters 341 1.7. Total positivity criteria 343 1.8. Fundamental determinantal identities 343 2. Preliminaries 344 2.1. Involutions 344 2.2. Commutation relations 345 2.3. Generalized det...

Understanding the relationship between molecular structure and folding is a central problem in disciplines ranging from biology to polymer physics and DNA origami. Topology can be a powerful tool to address this question. For a folded linear chain, the arrangement of intra-chain contacts is a topological property because rearranging the contacts requires discontinuous deformations. Conversely, ...

Motivation: Microarray experiments result in large scale data sets that require extensive mining and refining to extract useful information. We have been developing an efficient novel algorithm for nonmetric multidimensional scaling (nMDS) analysis for very large data sets as a maximally unsupervised data mining device. We wish to demonstrate its usefulness in the context of bioinformatics. In ...