934 resultados para arm-trunk coordination
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FCT PhD grant SFRH/BD/80682/2011; FCT research project VisCoDyn EXPL/ECM-EST/1323/2013
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In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.
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Software reconfigurability became increasingly relevant to the architectural process due to the crescent dependency of modern societies on reliable and adaptable systems. Such systems are supposed to adapt themselves to surrounding environmental changes with minimal service disruption, if any. This paper introduces an engine that statically applies reconfigurations to (formal) models of software architectures. Reconfigurations are specified using a domain specific language— ReCooPLa—which targets the manipulation of software coordinationstructures,typicallyusedinservice-orientedarchitectures(soa).Theengine is responsible for the compilation of ReCooPLa instances and their application to the relevant coordination structures. The resulting configurations are amenable to formal analysis of qualitative and quantitative (probabilistic) properties.
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OBJECTIVE: To report the authors' experience with the anomalous origin of the left coronary artery (AOLCA) from the pulmonary trunk, emphasizing preoperative data, surgical aspects and midterm results of the follow-up. METHODS: Retrospective analysis of 11 patients operated upon at the Royal Brompton Hospital from October, 84 to April, 97. RESULTS: Nine infants had heart failure (HF) and two other children presented with dyspnea and chest pain. All had ECG changes. The echocardiogram identified the anomalous origin of the coronary artery in 7 (64%) patients and hemodynamic studies were performed in 7 patients. All infants were operated upon between the 2nd and 10th month of life. Six patients were treated with aortic reimplantation of the left coronary artery, whereas five were operated upon according to the Takeuchi technique. All patients are alive, with clear improvement of the ECG changes and ventricular function, as evaluated by echocardiography. Two patients operated upon according to the Takeuchi technique required additional surgery due to severe supravalvular pulmonary stenosis. CONCLUSION: AOLCA is a rare disease. Most patients show early signs of severe HF associated with ECG findings. Surgical therapy must be instituted early in the disease, preferentially through aortic implantation of the anomalous coronary artery, with a high possibility of success. Shortly after surgery, clinical and ECG improvement, as well as normalization of left ventricular function, should be expected.
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We report a rare case of anomalous origin of the left coronary artery from the pulmonary trunk in a 45-year-old woman. The approach and technique used for selective catheterization of an anomalous left coronary artery arising from the pulmonary trunk are described. Six years after diagnosis, echocardiography showed left ventricular disfunction, and surgical treatment was indicated again. The origin of the left coronary artery from the pulmonary trunk was closed, and the postoperative period was uneventful, with recovery of left ventricular function and disappearance of ischemic features on stress myocardial perfusion imaging with 99m Tc-sestamibi, performed 4 weeks after surgery.
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Los mecanismos de producción y reproducción de la influencia política es una importante área de estudio de la ciencia política en las últimas décadas. En la misma se han disputado diferentes teorías, desde las que plantean la influencia predominante de grupos de poder y sectores corporativos tanto en las decisiones del estado como en las no decisiones, hasta los que plantean que existe la puja de diferentes intereses dentro del Estado pero que no existe ningún grupo predominante. El análisis de redes (network analysis) permite estudiar este objeto mediante la observación de la estructura de relaciones de los actores influyentes dentro de la política provincial. En esta area de estudio, este proyecto propone estudiar de qué manera se produce y reproduce la influencia política en la Provincia de Córdoba.Las hipótesis que plantea el proyecto son las siguientes: H1- La estructura del poder socio-político provincial adquiere una configuración reticular en la que existe un núcleo de actores que representan intereses tradicionales organizados y permite un escaso acceso de nuevas organizaciones que defienden intereses sociales difusos. H2- En el proceso de influencia sociopolítica provincial operan mecanismos de influencia interpersonales directos e indirectos (Brokerage) que permiten a los actores acceder e influir en los decisores públicos. H3- En el proceso de influencia socio-política interviene una diversidad de recursos de poder que los actores utilizan para influir las políticas públicas. Para esto se propone como objetivos del proyecto los siguientes: 1- Identificar y analizar la estructura de poder e influencia que subyace a la política provincial. 2- Analizar los intereses, actores y sectores incluidos y excluidos de la estructura de influencia política. 3- Analizar los mecanismos y recursos de producción y reproducción del poder y la influencia. 4- Analizar las áreas de política del estado provincial que resultan lugar de influencia de los actores y sectores que configuran la estructura de poder socio-política. 5- Analizar el sistema de decisión colectiva (policy domain) en dos áreas de política provincial. 6- Analizar los recursos que posibilitan a los actores ejercer poder e influencia en las áreas de políticas estudiadas. Para la verificación empírica de las hipótesis se realiza un diseño de investigación que incluye el mapeo y análisis de dos tipos de redes políticas diferentes, la "red de influencia en la política provincial" y la red de influencia en un "área de políticas públicas". La reconstrucción de las redes políticas se realizará mediante entrevistas semi-estructuradas a actores sociales y políticos en un muestreo no probabilístico de tipo "bola de nieve". La investigación pretende realizar un aporte a la comprensión de la coordinación política y, en tal sentido, espera alcanzar una adecuada descripción y comprensión de los procesos de influencia y de estructuración del poder en la Provincia de Córdoba.
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Magdeburg, Univ., Fak. für Verfahrens- und Systemtechnik, Diss., 2006
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Externalities, fiscal competition, partial coordination, wage formation
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Rotation distance quantifies the difference in shape between two rooted binary trees of the same size by counting the minimum number of elementary changes needed to transform one tree to the other. We describe several types of rotation distance, and provide upper bounds on distances between trees with a fixed number of nodes with respect to each type. These bounds are obtained by relating each restricted rotation distance to the word length of elements of Thompson's group F with respect to different generating sets, including both finite and infinite generating sets.
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Many organizations suffer poor performance because its members fail to coordinate on efficient patterns of behavior. In previous research, we have shown that financial incentives can be used to find a way out of such performance traps. Here we examine the sensitivity of this result to the ability of people to observe others' choices. Our experiments are set in a corporate environment where subjects' payoffs depend on coordinating at high effort levels; the underlying game being played repeatedly by the employees of an experimental firm is a weak-link game. Treatments vary along two dimensions. First, subjects either start with low financial incentives for coordination, which typically leads to coordination failure, and then are switched to higher incentives or start with high incentives, which typically yield effective coordination, and are switched to low incentives. Second, as the key treatment variable, subjects either observe the effort levels chosen by all employees in their experimenta
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Many organizations suffer poor performance because individuals within the organization fail to coordinate on efficient patterns of behavior. Using controlled laboratory experiments, we study how financial incentives can be used to find a way out of such performance traps. Our experiments are set in a corporate environment where subjects' payoffs depend on coordinating at high effort levels; the underlying game being played repeatedly by employees is a weak-link game. In an initial phase, the benefits of coordination are low relative to the cost of increased effort. Play in this initial phase typically converges to an inefficient outcome with employees failing to coordinate at high effort levels. The experimental design then explores the effects of varying the financial incentives to coordinate at a higher effort level. We find that an increase in the benefits of coordination leads to improved coordination, but, surprisingly, large increases have no more impact than small increases. Once subj
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We study how the heterogeneity of agents affects the extent to which changes in financial incentives can pull a group out of a situation of coordination failure. We focus on the connections between cost asymmetries and leadership. Experimental subjects interact in groups of four in a series of weak-link games. The treatment variable is the distribution of high and low effort cost across subjects. We present data for one, two and three low-cost subjects as well as control sessions with symmetric costs. The overall pattern of coordination improvement is common across treatments. Early coordination improvements depend on the distribution of high and low effort costs across subjects, but these differences disappear with time. We find that initial leadership in overcoming coordination failure is not driven by low-cost subjects but by subjects with the most frequent cost. This conformity effect can be due to a kind of group identity or to the cognitive simplicity of acting with identical others.
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Introduction: Coordination is a strategy chosen by the central nervous system to control the movements and maintain stability during gait. Coordinated multi-joint movements require a complex interaction between nervous outputs, biomechanical constraints, and pro-prioception. Quantitatively understanding and modeling gait coordination still remain a challenge. Surgeons lack a way to model and appreciate the coordination of patients before and after surgery of the lower limbs. Patients alter their gait patterns and their kinematic synergies when they walk faster or slower than normal speed to maintain their stability and minimize the energy cost of locomotion. The goal of this study was to provide a dynamical system approach to quantitatively describe human gait coordination and apply it to patients before and after total knee arthroplasty. Methods: A new method of quantitative analysis of interjoint coordination during gait was designed, providing a general model to capture the whole dynamics and showing the kinematic synergies at various walking speeds. The proposed model imposed a relationship among lower limb joint angles (hips and knees) to parameterize the dynamics of locomotion of each individual. An integration of different analysis tools such as Harmonic analysis, Principal Component Analysis, and Artificial Neural Network helped overcome high-dimensionality, temporal dependence, and non-linear relationships of the gait patterns. Ten patients were studied using an ambulatory gait device (Physilog®). Each participant was asked to perform two walking trials of 30m long at 3 different speeds and to complete an EQ-5D questionnaire, a WOMAC and Knee Society Score. Lower limbs rotations were measured by four miniature angular rate sensors mounted respectively, on each shank and thigh. The outcomes of the eight patients undergoing total knee arthroplasty, recorded pre-operatively and post-operatively at 6 weeks, 3 months, 6 months and 1 year were compared to 2 age-matched healthy subjects. Results: The new method provided coordination scores at various walking speeds, ranged between 0 and 10. It determined the overall coordination of the lower limbs as well as the contribution of each joint to the total coordination. The difference between the pre-operative and post-operative coordination values were correlated with the improvements of the subjective outcome scores. Although the study group was small, the results showed a new way to objectively quantify gait coordination of patients undergoing total knee arthroplasty, using only portable body-fixed sensors. Conclusion: A new method for objective gait coordination analysis has been developed with very encouraging results regarding the objective outcome of lower limb surgery.
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We consider a common investment project that is vulnerable to a self-ful lling coordination failure and hence is strategically risky. Based on their private information, agents - who have heterogeneous investment incentives - form expectations or 'sentiments' about the project's outcome. We find that the sum of these sentiments is constant across di erent strategy profiles and it is independent of the distribution of incentives. As a result, we can think of sentiment as a scarce resource divided up among the di erent payo types. Applying this nding, we show that agents who bene t little from the project's success have a large impact on the coordination process. The agents with small bene ts invest only if their sentiment towards the project is large per unit investment cost. As the average sentiment is constant, a subsidy decreasing the investment costs of these agents will \free up" a large amount of sentiment, provoking a large impact on the whole economy. Intuitively, these agents, insensitive to the project's outcome and hence to the actions of others, are in uential because they modify their equilibrium behavior only if the others change theirs substantially.