3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Access to environmental information in an Open European Society - Directive 2003/4. Research Paper in Law 5/2003

[From the Introduction]. Information gives knowledge and knowledge gives power. Though in all EC Member States, the task to protect the environment is given to the administration, it is obvious that the administration is not the owner of the environment. The environment is everybody's. It is for this reason that administrative decisions which affect the environment must be transparent, open and must strike a balance between the general interest to preserve, protect and improve the quality of the environment on the one hand, the satisfying of specific private or public interests on the other hand. In order to allow at least a certain control of whether the administration strikes the right balance between the need to protect the environment and other legitimate or less legitimate needs, it appears normal and self-evident that information on the environment which is in the hands of public authorities, be also made available to the public and to citizens.

Cinq morceaux pour piano / de Emm. Chabrier.

[1.] Aubade -- [2.] Ballabile -- [3.] Caprice -- [4.] Feuillet d'album -- [5.] Ronde champêtre.

Oeuvres choisis pour piano /

Pl no. 6356-6364.

Sonatinas for the piano.

v. 2. Op. 88, no. 1-4; op. 60, no. 1-3.

The Boston Handel and Haydn Society collection of church music : being a selection of the most approved psalm and hymn tunes, anthems, sentences, chants, &c. : together with many beautiful extracts from the works of Haydn, Mozart, Beethoven, and other eminent composers, harmonized for three and four voices, with a figured base for the organ and piano forte /

Mode of access: Internet.

Musique de chambre pour piano seul.

For piano; originally for various combinations of instruments.

Sonates pour piano et violon.

v. 1. Sonates, no. 1-9.--v. 2. Sonates, no. 10-18.--v. 3. Violon, no. 1-9.--v. 4. Violon, no. 10-18.

Six duos pour voix égales pouvant être chantés en chœur avec accompagnement de piano.

Cover title.