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On the existence and synthesis of multifinger positive grips (1987)

Mishra, B. ; Schwartz, J. T. ; Sharir, M.

Springer

Algorithmica 2 (1987), S. 541-558

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ISSN: 1432-0541

Keywords: Positive grip ; Grip selection ; Force/torque

Source: Springer Online Journal Archives 1860-2000

Topics: Computer Science , Mathematics

Notes: Abstract 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 external force/torque. In each case we obtain tight bounds on the number of fingers needed to obtain grip. We also present efficient algorithms to synthesize such positive grips for bounded polyhedral/polygonal objects; the number of fingers employed in the grips synthesized by our algorithms match the above bounds. The algorithms run in time linear in the number of faces/sides. The paper may be of independent interest for its presentation of algorithms arising in the study of positive linear spaces.

Type of Medium: Electronic Resource

URL: http://dx.doi.org/10.1007/BF01840373

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The functional relationship scan in tandem mass spectrometry (1988)

Vincenti, M. ; Schwartz, J. C. ; Cooks, R. G. ; [et al.]

Chichester : Wiley-Blackwell

Biological Mass Spectrometry 23 (1988), S. 579-584

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ISSN: 0030-493X

Keywords: Chemistry ; Analytical Chemistry and Spectroscopy

Source: Wiley InterScience Backfile Collection 1832-2000

Topics: Chemistry and Pharmacology

Notes: A type of tandem mass spectrometric scan is described in which m1 +, m2 + and m3, defined in terms of the process m1 + → m2 + + m3, are all varied while maintaining some prescribed relationship between them. The scan can be viewed as a variant upon the neutral loss scan in which the constant mass difference between parent and daughter ion masses is replaced by some other functional relationship. Specific examples of this scan are provided in two simple applications: (i) symmetrical proton-bound dimers are recognized using the functional scan m2 = (m1 + 1)/2; and (ii) symmetrical Diels-Alder adducts comprised of diene and dienophile of equal masses are recognized in mixtures using the scan function m2 = (1/2)m1.

Additional Material: 4 Ill.