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We study the criteria under which an object can be gripped by a multifingered dexterous hand, assuming no static friction between the object and the fingers; such grips are calledpositive grips. We study three cases in detail: (i) the body is at equilibrium, (ii) the body is under some constant external force/torque, and (iii) the body is under a varying(More)
With respect to on-line scheduling algorithms that must direct the service of sporadic task requests we quantify the benefit of clairvoyancy, i.e., the power of possessing knowledge of various task parameters of future events. Specifically, we consider the problem of preemptively sheduling sporadic task requests in both uni- and multi-processor(More)
In this paper, we describe our algorithmic approach to constructing ordered restriction maps based on the data created from the images of population of individual DNA molecules (clones) digested by restriction enzymes. The goal is to devise map-making algorithms capable of producing high-resolution, high-accuracy maps rapidly and in a scalable manner. The(More)
Certain aspects of the distal gonad of C. elegans are comparable to niche/stem cell systems in other organisms. The distal tip cell (DTC) caps a blind-ended tube; only the distal germ cells maintain proliferation in response to signaling from the DTC via the GLP-1/Notch signaling pathway in the germ line. Fruitful comparison between this system and other(More)
Understanding how the structure of a network evolves over time is one of the most interesting and complex topics in the field of social networks. In our attempt to model the dynamics of such systems, we explore an agent-based approach to model growth of email-based social networks, in which individuals establish, maintain and allow atrophy of links through(More)
We prove the following quantitative form of a classical theorem of Steinitz: Let m be sufficiently large. If the convex huh of a subset S of Euclidean d-space contains a unit bMl then there is a subset of S with at most m points whose convex huh contains a ball with the same center and having residual radius 1-3d The case m = 2d was first considered by(More)
The current standard correlation coefficient used in the analysis of microarray data was introduced by M. B. Eisen, P. T. Spellman, P. O. Brown, and D. Botstein [(1998) Proc. Natl. Acad. Sci. USA 95, 14863-14868]. Its formulation is rather arbitrary. We give a mathematically rigorous correlation coefficient of two data vectors based on James-Stein shrinkage(More)