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.

Simbologia em realidade aumentada móvel

Tese de mestrado, Engenharia Informática (Sistemas de Informação), Universidade de Lisboa, Faculdade de Ciências, 2016

Caraterização e modelação do comportamento mecânico da resina fotopolimerizada V-Flash FTI-GN

A utilização de tecnologias de prototipagem em objetos e estruturas do dia-a-dia é cada vez maior. Porém, os componentes que é possível fabricar estão em geral associados a protótipos demonstrativos não funcionais. Para ultrapassar estas limitações têm vindo a ser desenvolvidos novos materiais, procurando a melhoria das suas características mecânicas. A presente dissertação insere-se no projeto Firend®, que se tem vindo a desenvolver numa parceria entre a Academia Militar e outras instituições como o Instituto Superior Técnico e procura avaliar a viabilidade da utilização da técnica de deposição de resina fotopolimerizável por ultra-violeta no fabrico de projéteis para o transporte especial de agentes extintores, procurando caracterizar o desempenho deste material em condições operativas simulativas do disparo real. A pesquisa bibliográfica da presente dissertação baseou-se numa breve introdução aos materiais poliméricos. O trabalho teórico consistiu na modelação numérica através do método dos elementos finitos do ensaio de compressão utilizando o programa Deform® e na respetiva validação do modelo através de comparação dos resultados das simulações com dados experimentais existentes na literatura da especialidade. O trabalho experimental fundamentou-se no fabrico e preparação de provetes através da tecnologia de impressão 3D, na descrição das ferramentas utilizadas e do plano experimental. No final verificou-se a fratura de todos os provetes ensaiados e uma grande dispersão dos resultados, conseguindo-se apenas retirar uma tensão de segurança que não deve ser ultrapassada. De acordo com o estudo realizado o material ensaiado demonstrou-se não ser apropriado para a aplicação pretendida e recomenda-se a avaliação de outros materiais igualmente utilizados pelas técnicas de prototipagem rápida, tais como uma mistura de uma resina polimérica com um outro material com características mecânicas mais adequadas.

The budget of the United States Government.

Also published in the House document series.

Toward Never-Ending Object Learning for Robots

Thesis (Ph.D.)--University of Washington, 2016-06

Evaluation of cosmic ray rejection algorithms on single-shot exposures

To maximise data output from single-shot astronomical images, the rejection of cosmic rays is important. We present the results of a benchmark trial comparing various cosmic ray rejection algorithms. The procedures assess relative performances and characteristics of the processes in cosmic ray detection, rates of false detections of true objects, and the quality of image cleaning and reconstruction. The cosmic ray rejection algorithms developed by Rhoads (2000, PASP, 112, 703), van Dokkum (2001, PASP, 113, 1420), Pych (2004, PASP, 116, 148), and the IRAF task xzap by Dickinson are tested using both simulated and real data. It is found that detection efficiency is independent of the density of cosmic rays in an image, being more strongly affected by the density of real objects in the field. As expected, spurious detections and alterations to real data in the cleaning process are also significantly increased by high object densities. We find the Rhoads' linear filtering method to produce the best performance in the detection of cosmic ray events; however, the popular van Dokkum algorithm exhibits the highest overall performance in terms of detection and cleaning.

Non-mereological universalism

In this paper I develop a version of universalism that is non-mereological. Broadly speaking, non-mereological universalism is the thesis that for any arbitrary set of objects and times, there is a persisting object which, at each of those times, will be constituted by those of the objects that exist at that time. I consider two general versions of non-mereological universalism, one which takes basic simples to be enduring objects, and the other which takes simples to be instantaneous objects. This yields three versions of endurantism, of which I ultimately defend the version I call universalist endurantism. Universalist endurantism is the thesis that (i) for any arbitrary set S of instantaneous simples that exist at the same instant, there exists a fusion of the members of S, and (ii) for any arbitrary set S* of instantaneous fusions each of which exist at a different instant, there exists an enduring object O that is constituted by those fusions at those instants. Universalist endurantism is ‘non-mereological’ in that the relation that holds between instantaneous fusions and persisting objects is not the part/whole relation, but rather, is the relation of constitution, thus allowing that the persisting objects are three rather than four dimensional. I argue that universalist endurantism not only has the various benefits of mereological universalism in allowing vagueness to be explicated as semantic indeterminacy, but in addition allows the endurantist to hold that some properties are genuinely intrinsic and are exemplified simpliciter.

MQL: A powerful extension to OCL for MOF queries

The Meta-Object Facility (MOF) provides a standardized framework for object-oriented models. An instance of a MOF model contains objects and links whose interfaces are entirely derived from that model. Information contained in these objects can be accessed directly, however, in order to realize the Model-Driven Architecture@trade; (MDA), we must have a mechanism for representing and evaluating structured queries on these instances. The MOF Query Language (MQL) is a language that extends the UML's Object Constraint Language (OCL) to provide more expressive power, such as higher-order queries, parametric polymorphism and argument polymorphism. Not only do these features allow more powerful queries, but they also encourage a greater degree of modularization and re-use, resulting in faster prototyping and facilitating automated integrity analysis. This paper presents an overview of the motivations for developing MQL and also discusses its abstract syntax, presented as a MOF model, and its semantics

Modelling Java concurrency with Object-Z

In this paper, we present a formal model of Java concurrency using the Object-Z specification language. This model captures the Java thread synchronization concepts of locking, blocking, waiting and notification. In the model, we take a viewpoints approach, first capturing the role of the objects and threads, and then taking a system view where we capture the way the objects and threads cooperate and communicate. As a simple illustration of how the model can, in general be applied, we use Object-Z inheritance to integrate the model with the classical producer-consumer system to create a specification directly incorporating the Java concurrency constructs.

Animation of object-z specifications using a Z animator

We discuss a methodology for animating the Object-Z specification language using a Z animation environment. Central to the process is the introduction of a framework to handle dynamic instantiation of objects and management of object references. Particular focus is placed upon building the animation environment through pre-existing tools, and a case study is presented that implements the proposed framework using a shallow encoding in the Possum Z animator. The animation of Object-Z using Z is both automated and made transparent to the user through the use of a software tool named O-zone.

TRANSFORMAÇÕES NO MUNDO DO TRABALHO NA REGIÃO DO GRANDE ABC: UMA ANÁLISE COMPREENSIVA A PARTIR DO FILME PEÕES

Com o advento da revolução industrial o capitalismo assumiu uma forma assombrosa jamais vista anteriormente em outras passagens do mundo do trabalho, ao se alimentar de um ritmo acelerado de produção, consumo e acumulação. Esta nova era baseada na mecanização e numa nova divisão do trabalho impôs ao trabalhador o principio da fragmentação, que seguindo o modelo do cronômetro da gerência científica e a linha de produção do açougue dividiu a força de trabalho do empregado e multiplicou a acumulação do empregador. Na década de 1970 o capitalismo sofreu uma crise estrutural que viria a transformar o mundo do trabalho novamente. Esta nova transformação do capital fundamentado na globalização e nos conceitos neoliberais visando ainda mais a lucratividade em cima da força de trabalho atingiu a objetividade e a subjetividade da classe-que-vive-do-trabalho ao (des)re regulamentar seus direitos e conquistas. No mundo do trabalho brasileiro as transformações do capital mundial tiveram seu impacto nos anos 1990 abalando regiões produtivas inteiras como a do Grande ABC, com o desemprego estrutural e com a reestruturação produtiva. Em 2002 o diretor de cinema Eduardo Coutinho filmou um documentário Peões com 21 operários que narram suas origens, suas participações no movimento nas décadas de 1970-1980-1990 e os desfechos de suas vidas fazendo uma construção de si pela fala. Desta forma, Peões será para esta dissertação o corpus de análise para uma aproximação entre ciência e arte, onde será utilizado o método fenomenológico para a análise das narrativas que se apresentam para compreensão da divisão do trabalho capitalista que vem transformando o mundo do trabalho e atingindo perversamente a classe-que-vive-do-trabalho ao fragmentar sua subjetividade que se explicita objetivamente na fragmentação da relação intersubjetiva com o outro, os objetos e o mundo. Por meio da aplicação do método para a compreensão das narrativas pode se chegar à seguinte síntese: os homens e mulheres, de Peões, viveram e vivem ainda hoje intensamente entre a linha tênue da resistência e da submissão, da desalienação e alienação, do despontar e do anonimato na esfera pública evidenciando a importância ainda em nossos dias do alargamento do pensamento dialético entre a lógica da acumulação capitalista versus a lógica da sobrevivência humana.

ESTRUTURA E DINÂMICA DO FUNCIONAMENTO PSÍQUICO DE HOMENS ENVOLVIDOS EM VIOLÊNCIA DOMÉSTICA

A violência, de qualquer tipo e natureza, é um fenômeno que acontece desde os primórdios. A Organização Mundial de Saúde define violência como o uso intencional da força física ou do poder, real ou por ameaça, contra a própria pessoa, contra outra pessoa, contra um grupo ou uma comunidade, que pode resultar em morte, lesão, dano psicológico, problemas de desenvolvimento ou privação. A violência doméstica é definida pela APA como qualquer ação que causa dano físico a um ou mais membros de sua unidade familiar e pode ocorrer a partir de um conflito de gerações e de gênero, configurando-se por agressão física, abuso sexual, abuso psicológico, negligência, dentro da família, perpetradas por um agressor em condições de superioridade (física, etária, social, psíquica e/ou hierárquica). Esta pesquisa tem como objetivo investigar a Estrutura e dinâmica do Funcionamento Psíquico de Homens Envolvidos em Violência Doméstica. Utilizou-se o método clínico-qualitativo, com quatro homens em situação de violência doméstica. Como forma de coleta de dados foi empregada uma entrevista e o Teste das Relações Objetais (TRO) de Phillipson. Ao analisar os resultados, pode-se observar que o ego fragilizado teme a solidão, as situações de perda, e os ataques destrutivos do id e o superego permissivo não os contêm, e para suportar os ataques persecutórios dos objetos, e em função da persecutoriedade e da culpa persecutória o ego recorre a identificação projetiva maciça e a idealização para proteger-se da destrutividade, permanecendo na posição esquizoparanóide. Conclui-se que a análise da estrutura e da dinâmica psíquica e o tratamento psicológico (individual ou em grupo) de homens envolvidos em violência doméstica, em conjunto com outras medidas judiciais e sociais são ações necessárias, pois, pode ser uma forma de ajudá-los a enfrentar suas limitações, lidar com suas angústias, entender e controlar os impulsos, rever e compreender suas crenças e trabalhar sua autoestima. Partindo-se do pressuposto que a violência doméstica ocorre na relação entre homem-mulher, o tratamento e o entendimento dos aspectos psicológicos de homens envolvidos em violência doméstica são de extrema importância para minimizar este fenômeno, e deve ser aliado às ações, já existentes dirigidas às mulheres.

The effective use of implicit parallelism through the use of an object-oriented programming language

This thesis explores translating well-written sequential programs in a subset of the Eiffel programming language - without syntactic or semantic extensions - into parallelised programs for execution on a distributed architecture. The main focus is on constructing two object-oriented models: a theoretical self-contained model of concurrency which enables a simplified second model for implementing the compiling process. There is a further presentation of principles that, if followed, maximise the potential levels of parallelism. Model of Concurrency. The concurrency model is designed to be a straightforward target for mapping sequential programs onto, thus making them parallel. It aids the compilation process by providing a high level of abstraction, including a useful model of parallel behaviour which enables easy incorporation of message interchange, locking, and synchronization of objects. Further, the model is sufficient such that a compiler can and has been practically built. Model of Compilation. The compilation-model's structure is based upon an object-oriented view of grammar descriptions and capitalises on both a recursive-descent style of processing and abstract syntax trees to perform the parsing. A composite-object view with an attribute grammar style of processing is used to extract sufficient semantic information for the parallelisation (i.e. code-generation) phase. Programming Principles. The set of principles presented are based upon information hiding, sharing and containment of objects and the dividing up of methods on the basis of a command/query division. When followed, the level of potential parallelism within the presented concurrency model is maximised. Further, these principles naturally arise from good programming practice. Summary. In summary this thesis shows that it is possible to compile well-written programs, written in a subset of Eiffel, into parallel programs without any syntactic additions or semantic alterations to Eiffel: i.e. no parallel primitives are added, and the parallel program is modelled to execute with equivalent semantics to the sequential version. If the programming principles are followed, a parallelised program achieves the maximum level of potential parallelisation within the concurrency model.

The realisation of JSD specifications in object oriented languages

Jackson System Development (JSD) is an operational software development method which addresses most of the software lifecycle either directly or by providing a framework into which more specialised techniques can fit. The method has two major phases: first an abstract specification is derived that is in principle executable; second the specification is implemented using a variety of transformations. The object oriented paradigm is based on data abstraction and encapsulation coupled to an inheritance architecture that is able to support software reuse. Its claims of improved programmer productivity and easier program maintenance make it an important technology to be considered for building complex software systems. The mapping of JSD specifications into procedural languages typified by Cobol, Ada, etc., involves techniques such as inversion and state vector separation to produce executable systems of acceptable performance. However, at present, no strategy exists to map JSD specifications into object oriented languages. The aim of this research is to investigate the relationship between JSD and the object oriented paradigm, and to identify and implement transformations capable of mapping JSD specifications into an object oriented language typified by Smalltalk-80. The direction which the transformational strategy follows is one whereby the concurrency of a specification is removed. Two approaches implementing inversion - an architectural transformation resulting in a simulated coroutine mechanism being generated - are described in detail. The first approach directly realises inversions by manipulating Smalltalk-80 system contexts. This is possible in Smalltalk-80 because contexts are first class objects and are accessible to the user like any other system object. However, problems associated with this approach are expounded. The second approach realises coroutine-like behaviour in a structure called a `followmap'. A followmap is the results of a transformation on a JSD process in which a collection of followsets is generated. Each followset represents all possible state transitions a process can undergo from the current state of the process. Followsets, together with exploitation of the class/instance mechanism for implementing state vector separation, form the basis for mapping JSD specifications into Smalltalk-80. A tool, which is also built in Smalltalk-80, supports these derived transformations and enables a user to generate Smalltalk-80 prototypes of JSD specifications.

Visual hallucinations in the Parkinsonian syndromes

Differential clinical diagnosis of the parkinsonian syndromes,viz., Parkinson's disease (PD), progressive supranuclear palsy (PSP), dementia with Lewy bodies (DLB), multiple system atrophy (MSA), and corticobasal degeneration (CBD) can be difficult. Visual hallucinations, however, are a chronic complication of some parkinsonian disorders and their presence may be a useful aid to diagnosis. The visual hallucinations in parkinsonism are often recurrent, well-formed, and detailed and occur in a significant proportion of cases of DLB and PD but are less common in PSP, MSA, and CBD. Hallucinations in PD often occur later in the disease and are complex, with flickering lights, and illusionary misconceptions often preceding the most common manifestation, viz., stereotypical colourful images. Hallucinations in DLB, however, are often present earlier in the disease and are similar to those in the 'misidentification syndromes', 'visual agnosias', and in 'delerium' but differ from those produced by hallucinogenic drugs such as LSD. Most typically in DLB, the hallucinations involve people or animals invading the patient's home but may also include inanimate objects and the appearance of writing on walls or ceilings. Visual hallucinations may involve a number of brain mechanisms including a change in the balance of neurotransmitter activity between the cholinergic and monoaminergic systems and may be a specific consequence of Lewy body (LB) pathology in brain stem nuclei. Ocular and retinal pathology may also contribute to hallucinations by reducing occipital stimulation. Hence, in patients with unclassifiable or with indeterminate parkinsonian symptoms, the presence of visual hallucinations should be regarded as a 'red flag' symptom indicating underlying Lewy body pathology and therefore, supporting a diagnosis of PD or DLB rather than PSP, MSA, or CBD. The presence of early visual hallucinations would support a diagnosis of DLB rather than PD. © 2013 Nova Science Publishers, Inc. All rights reserved.