Enhancing the Dexterity of a Robot Hand Using Controlled Slip

Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping slipping motions.

Generating Compliant Motion of Objects with an Articulated Hand

The flexibility of the robot is the key to its success as a viable aid to production. Flexibility of a robot can be explained in two directions. The first is to increase the physical generality of the robot such that it can be easily reconfigured to handle a wide variety of tasks. The second direction is to increase the ability of the robot to interact with its environment such that tasks can still be successfully completed in the presence of uncertainties. The use of articulated hands are capable of adapting to a wide variety of grasp shapes, hence reducing the need for special tooling. The availability of low mass, high bandwidth points close to the manipulated object also offers significant improvements I the control of fine motions. This thesis provides a framework for using articulated hands to perform local manipulation of objects. N particular, it addresses the issues in effecting compliant motions of objects in Cartesian space. The Stanford/JPL hand is used as an example to illustrate a number of concepts. The examples provide a unified methodology for controlling articulated hands grasping with point contacts. We also present a high-level hand programming system based on the methodologies developed in this thesis. Compliant motion of grasped objects and dexterous manipulations can be easily described in the LISP-based hand programming language.

Passive and Active Grasping with a Prehensile Robot End-Effector

This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a design with only one degree of actuation. The key features of this design are high bandwidth response to forces, passive grasping capabilities, ease of control, and ability to wrap around objects with simple geometries providing form closure. A prototype of this mechanism was built to evaluate these features.

Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand.

Pose Determination of a Grasped Object Using Limited Sensing

This report explores methods for determining the pose of a grasped object using only limited sensor information. The problem of pose determination is to find the position of an object relative to the hand. The information is useful when grasped objects are being manipulated. The problem is hard because of the large space of grasp configurations and the large amount of uncertainty inherent in dexterous hand control. By studying limited sensing approaches, the problem's inherent constraints can be better understood. This understanding helps to show how additional sensor data can be used to make recognition methods more effective and robust.

Java Applets for teaching quantum mechanics: Particle in a box

These Java Applets help to illustrate some of the difficult to grasp concepts of quantum mechanics. To run this Applet, use the 'Download as zip files' option. Make sure you extract the files first, then double click on the .html file to run the Applet. These are released as open access resources for the purpose of testing, and are to be deployed at the users own risk. Please report any errors you find.

Java Applets for teaching quantum mechanics: Particle in a 2D box

These Java Applets help to illustrate some of the difficult to grasp concepts of quantum mechanics. To run this Applet, use the 'Download as zip files' option. Make sure you extract the files first, then double click on the .html file to run the Applet. These are released as open access resources for the purpose of testing, and are to be deployed at the users own risk.

Java Applets for teaching quantum mechanics: Particle in a well

These Java Applets help to illustrate some of the difficult to grasp concepts of quantum mechanics. To run this Applet, use the 'Download as zip files' option. Make sure you extract the files first, then double click on the .html file to run the Applet. These are released as open access resources for the purpose of testing, and are to be deployed at the users own risk.

INFO6003 (2013) Data Exfiltration -- Papers

This is a fun paper about data exfiltration. It's suggested reading, I'd like you to try and grasp how difficult the problem is why looking at one 'creative" attack. The second paper is a technical approach, only for the people seriously interested in this topic.

The Role of Kinaesthetic Motor Imagery in Promoting Activation of the Lumbrical Muscles in the Hemiparetic Hand: a Randomised Controlled Study

The objective of the investigation who gave as result this work was to investigate the effectiveness of kinaesthetic motor imagery in the activation of the hemiplegic hand muscles following stroke. The experiment consisted of two random groups. Movements were measured after treatment. The participants were ten patients with hemiplegic hands (men who mean age was 74.4 years; mean time since stroke 3.05 months). All patients received three sessions of physical treatment based on an identical treatment protocol. Five patients were randomly assigned to an experimental group practising kinaesthetic motor imagery of a grasp using the 'lumbrical action' (experimental group). The others five (control group) followed a relaxation script. All the patients were then asked to grasp an object using the 'lumbrical action'. The grasps were recorded using an optoelectronic motion capture system. The magnitude of the extension of the index finger and the correlation of the angular displacement of the proximal phalangeal joints and the metacarpophalangeal joints were calculated. The movement time for the whole grip was calculated. The experimental group demonstrated higher extension in the index finger (p = < 0.01) and they had a higher correlation coefficient (0.99) than the control group (0.77) for the displacement of the proximal interphalangeal joint and the metacarpophalangeal joints. The movement time for the experimental group was faster, although the difference was not significant.

El Course Experience Questionnaire (CEQ): aproximació a un in-dicador de qualitat del sistema universitari australià

The Course Experience Questionnaire is one of the instruments designed to appraise the quality of the university education, which applies in a global way to the Australian universities, public as well as private. It is a indicator of the courses that they are imparted at the university from the point of view of the student. The present article studies the historical evolution, the structure and the functioning of this questionnaire in order to grasp the positive aspects that it brings to the analysis of the quality of the university system

The construction of national identity as a developmental process from childhood to adolescence in Catalonia

La idea que per entendre alguna cosa hem d'entendre el procés pel qual s'ha produït va ser assumida des de l'origen de l'estudi "La construcció de la identitat nacional com a procés de desenvolupament des de la infància a l'adolescència a Catalunya". Per tal d'estudiar el procés de desenvolupament relacionat amb la construcció de la identitat nacional, no és suficient considerar-lo en el seu context social, sinó que és necessari considerar la seva construcció social. Tres objectius principals van orientar el nostre estudi . Primer, indagar si els processos de categorització, identificació, coneixement, imatge, avaluació i afecte són també elements implicats en la construcció de la identitat nacional des de la infància a l'adolescència. Segon investigar el procés de desenvolupament d'aquests elements des dels 6 anys fins als 15 anys per contribuir amb dades a I'explicació sobre com es desenvolupa del coneixement social. Tres són les explicacions principals; la primera que es basa en processos cognitius d'inclusió-decentració; la segona, si aquest desenvolupament es dóna en cercles concèntrics des de I'interior (contextos quotidians) fins a l'exterior (amb intercanvis més amples i una educació formal envers la vida social); i la tercera, si el desenvolupament del coneixement social d'allò més immediat i directe es reorganitzat i adquireix nous significats per la integració dels elements més generals i abstractes. Tercer, donat el fet que el 50% de les famílies tenen el català com a llengua materna, hem estudiat la influència de la llengua o llengües utilitzades en el context familiar en el procés de construcció de la identitat nacional. Es va dissenyar una entrevista individual seguint una estructura amb les parts següents: identificació subjectiva i identificació nacional; coneixement dels països; estereotips, avaluació i sentiments, i entorn social. La mostra del present estudi va estar formada per 495 nens i adolescents de 6, 9, 12 i 15 anys d'edat. Es va utilitzar per cada grup un número similar de nens i nenes. La mostra es va dividir en tres grups segons la o les llengües utilitzades pel nen o nena en el seu context familiar. Tres van ser les categones lingüístiques utilitzades: castellà, nens que només utilitzin el castellà a casa; català, nens que només usen el català en el context familiar; i bilingües, nens que utilitzin tots dos idiomes a casa. Aquestes categories lingüístiques s'han utilitzat com a indicador dels contextos familiars. Dues conclusions principals es poden extreure d'aquest estudi. Primer, I'ús de categories nacionals no és una conseqüència del procés cognitiu d'inclusió-decentració ni en cercles concentrics (concret/abstracte). La idea d'un procés del món en paral·lel, d'un coneixement que integra simultàniament creences i sentiments de l'ambient concret o proper i de l'abstracte o llunyà pot explicar millor els nostres resultats. Els nens aprenen i pensen sobre la vida quotidara, les característiques de l'ambient, la informació circulant en el seu entom social i la importància o els diferents nivells de coneixement depenent del context. Els nens integren la informació que està circulant en el seu ambient i construeixen un món que necessàriament no ha de coincidir amb el món deis adults, però que els ajuda a comunicar-se i a entendre les situacions en les quals estan immersos. Els nens més joves són capaços d'utilitzar categories nacionals de manera similar als adolescents. Segon, la identitat nacional a Catalunya es construeix al voltant del nucli de la llengua parlada a casa. A través de tot I'estudi es pot veure un resultat consistent i reiterat. Els infants d'un entom familiar en què s'usa només el castellà s'identifiquen com a pertanyents a tots dos grups nacionals, Espanyol i Català. Els infants d'un entom familiar que utilitzen només el català s'identifiquen com a pertanyents només al grup Català. Aquestes identificacions guien com aquests nens avaluen i senten envers el propi grup nacional i els altres. A més, sembla que el context sòcio-polític és un vehicle important en la transmissió de les estructures de semblances i que I'estructura d'afecte es transmet principalment a través de I'entom familiar.

Profiles of digital TV adopters in the switchover context in Portugal

In order to conduct a successful transition from analogue terrestrial television to full digital terrestrial television it is essential to identify what are the most significant drivers and barriers for adoption among the impacted population. Also importantly, it is to segment the population according with their attitudes towards digital TV, their awareness about the switchover process and intention of adopting digital TV, among other relevant topics. The tradition of profiles definition based on the adoption and rejection of innovations can be traced back to Beal & Bohlen, who proposed five categories of innovation adopters based on the time of adoption, with significant differences in selected personal and social characteristics: the innovators, the early adopters, the early majority, the majority and non-adopters. Later, Rogers would propose similar categories of adopters that became the standard for years to come: the innovators, the early adopters, the early majority, the late majority and the laggards. While helpful, these traditional innovation adopters’ profiles do not totally grasp the complexities of the adoption of an innovation such as digital TV, particularly in mandatory settings. In this paper we will propose a classification of adopters of digital TV in Portugal, based on the results of one of the four empirical studies of the research project ADOPT-DTV, namely, the quantitative inquiry administered to a representative sample of the Portuguese population. The paper will be concluded with a brief discussion of results and the enumeration of the next steps of the research project.

Il silenzio e l’umanità autentica : antropologia ed etica fra Montaigne e Heidegger

During the long history of Western thought, silence has always represented the main condition for the development of a deep meditation about the Self. Through this activity, which could seem to be in contrast with social life and philosophical praxis, several thinkers have tried to reach the spiritual nature of human beings. However, when they had to assign a foundation to it, the same meditation, which had started from the same bases, brought them to opposite conclusions. The motive for this divergence is grounded on the fact that materiality is not the only component that constitutes silence, since it has indeed a complex nature and so it consists also of an immaterial part. In addition, this inner and more hidden aspect could only be perceived through a direct contact that is rarely and personally achieved. As a consequence of this complexity, beside an interpretation of silence as a manifestation of God’s voice and a proof of the transcendent peculiarity of human beings, another reading has developed along a parallel path. This interpretation has represented silence as an expression of an utterly immanent spirituality that characterizes humanity. Two authors, in particular, can exhibit this frequently forgotten second stream of Western thought that has unceasingly run from Hellenistic age to contemporary culture: they are Michel de Montaigne and Martin Heidegger. This essay seeks to rebuild this long and complex plot of the history of Western thought through the texts’ recourse. At the same time, it seeks to grasp, in the relationship between men and silence, some fundamental prerequisites that could be considered absolutely necessary in order to design an anthropology and, consequently, an ethics with the characteristics of a recovered authenticity. These two renovated categories, according to the immanent feature of silence, have their own justification exclusively in the voice of human conscience and their purpose lies precisely in the relationship with others.

A farmácia e a cosmética no século XIX em Portugal

Os cosméticos sempre estiveram presentes desde os primórdios da Humanidade, existindo actualmente uma enorme panóplia de produtos ao alcance dos consumidores. Desde sempre o homem se preocupou com a sua aparência e para tal utilizou os cosméticos como forma de realçar a sua beleza. Durante o século XIX a área dos cosméticos e da farmácia sofreu uma grande evolução devido à revolução industrial e ao aparecimento de novas tecnologias. No século XIX surgiram pela primeira vez métodos de eliminação de rugas, de embelezamento do rosto e na higiene deu-se importância aos banhos com a criação dos balneários públicos. A crescente procura de beleza levou à criação de produtos cosméticos diversos, alguns dos quais perigosos para a saúde, sendo este um dos pontos a abordar nesta tese. Os cosméticos serão abordados como um bem de luxo num país que vivia em extrema pobreza. Serão abordados outros pontos como a importância de produtos cosméticos estrangeiros e efectuar-se-á uma comparação entre um cosmético actual e um do século XIX. A Farmácia em Portugal sofreu profundas alterações no século XIX. A botica deu lugar à farmácia e a produção de medicamentos que anteriormente era feita artesanalmente, passou a ser feita industrialmente. A extinção das ordens religiosas em Portugal em 1834 foi crucial para o desenvolvimento das farmácias. O encerramento das farmácias dos mosteiros originou uma maior viabilização e abrangência territorial dos estabelecimentos privados. Este foi o momento na história da farmácia em Portugal que levou à formação do associativismo. O avanço da produção científica e da literatura técnico profissional que se verificava por toda a Europa também se repercutiu em Portugal. Como exemplo da Literatura Farmacêutica Portuguesa neste século temos a publicação do Codigo Pharmaceutico lusitano. Com o surgimento da era industrial e consequente aumento dos bens produzidos, aperfeiçoou-se a técnica publicitária que deixou de ser unicamente informativa para ser mais persuasiva e agressiva levando o consumidor a comprar. Com esta tese de mestrado tenta-se demonstrar o impacto da revolução industrial no Farmacêutico em Portugal e avaliar a sua resposta às necessidades de mercado. O profissional de saúde deverá apreender rapidamente conhecimento de modo a não perder a sua identidade.