c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...

Password-based Authenticated Key-Exchange (PAKE) protocols allow users, who need only to share a password, to compute a high-entropy shared session key despite passwords being taken from a dictionary. Security models for PAKE protocols aim to capture the desired security properties that such protocols must satisfy when executed in the presence of an active adversary. They are usually classified...

The time to extinction of a subcritical Galton-Watson branching process and the time of last mutation of its infinite-alleles version are maxima of independent random variables having an upper tail of geometric type, and hence they are not attracted to any extreme value distribution. It is shown that Anderson's asymptotic results for maxima of discrete variates are applicable, and this rectifie...

We thank Mark Edwards of Recombinant Capital and Seth Segel of Media Metrix for access to their organizations’ data and a number of practitioners for helpful discussions. Drew Fudenberg, Robert Gibbons, Richard Gilbert, Oliver Hart, Dale Jorgenson, Ariel Pakes, Robert Porter (Editor), Jean Tirole, two anonymous referees, and seminar participants at Berkeley, Columbia, Harvard, the National Univ...

Two concepts of symmetry for the distributions of positive random variables Y are log-symmetry (symmetry of the distribution of log Y ) and Rsymmetry (Mudholkar & Wang, 2007). In this paper, we characterise the distributions that have both properties, which we call doubly symmetric. It turns out that doubly symmetric distributions constitute a subset of those distributions that are moment-equiv...

Two concepts of symmetry for the distributions of positive random variables Y are log-symmetry (symmetry of the distribution of log Y ) and Rsymmetry (Mudholkar & Wang, 2007). In this paper, we characterise the distributions that have both properties, which we call doubly symmetric. It turns out that doubly symmetric distributions constitute a subset of those distributions that are moment-equiv...

Conventional wisdom among legal scholars is that contractual restrictions on employee mobility a¤ect turnover and led to the overtaking of Massachusetts’Route 128 by Silicon Valley. We study a model of employee mobility in the spirit of Pakes and Nitzan (1984) to see when this can be the case. We show that, in fact, with certain frictions taken into account, a model of employee mobility can not...

Ryoko Muraoka, Michiko Okazaki, Yoko Fujimoto, Nobutoshi Jo, Ritsuko Yoshida, Tomoko Kiyoyama, Yuko Oura, Kazuo Hirakawa, Mayumi Jyukurogi, Kimiko Kawano*, Mika Okada, Yoko Shioyama, Kazunori Iryoda, Hideo Wakamatu and Norihiko Kawabata Miyazaki Prefecture Central Public Health Office, Miyazaki 880-0032, and Department of Microbiology, Miyazaki Prefectural Institute for Public Health and Enviro...

1. Reproductive behaviour is routinely studied with a view towards characterizing how an animal responds to variation in resource abundance and quality. This characterization is less commonly made with respect to reproductive physiology. 2. In the Walnut-infesting Fly, Rhagoletis juglandis , ovarian development is cued by the presence of the host fruit resource. In this study, I examined how ov...