Contact force transitions in regrasp tasks of planar objects

This paper presents a simple and fast solution to the problem of finding the time variations of the forces that keep the object equilibrium when a finger is removed from a three contact point grasp or a finger is added to a two contact point grasp, assuming the existence of an external perturbation force (that can be the object weight itself). The procedure returns force set points for the control system of a manipulator device in a regrasping action. The approach was implemented and a numerical example is included in the paper to illustrate how it works.

Neural plasticity associated with recently versus often heard objects.

In natural settings the same sound source is often heard repeatedly, with variations in spectro-temporal and spatial characteristics. We investigated how such repetitions influence sound representations and in particular how auditory cortices keep track of recently vs. often heard objects. A set of 40 environmental sounds was presented twice, i.e. as prime and as repeat, while subjects categorized the corresponding sound sources as living vs. non-living. Electrical neuroimaging analyses were applied to auditory evoked potentials (AEPs) comparing primes vs. repeats (effect of presentation) and the four experimental sections. Dynamic analysis of distributed source estimations revealed i) a significant main effect of presentation within the left temporal convexity at 164-215ms post-stimulus onset; and ii) a significant main effect of section in the right temporo-parietal junction at 166-213ms. A 3-way repeated measures ANOVA (hemisphere×presentation×section) applied to neural activity of the above clusters during the common time window confirmed the specificity of the left hemisphere for the effect of presentation, but not that of the right hemisphere for the effect of section. In conclusion, spatio-temporal dynamics of neural activity encode the temporal history of exposure to sound objects. Rapidly occurring plastic changes within the semantic representations of the left hemisphere keep track of objects heard a few seconds before, independent of the more general sound exposure history. Progressively occurring and more long-lasting plastic changes occurring predominantly within right hemispheric networks, which are known to code for perceptual, semantic and spatial aspects of sound objects, keep track of multiple exposures.

Smart antennas: state of the art

Aim of this contribution is to illustrate the state of the art of smart antenna research from several perspectives. The bow is drawn from transmitter issues via channel measurements and modeling, receiver signal processing, network aspects, technological challenges towards first smart antenna applications and current status of standardization. Moreover, some future prospects of different disciplines in smart antenna research are given.

Touching the void: exploring virtual objects through a vibrotactile glove

This paper describes a simple low-cost approach toadding an element of haptic interaction within a virtualenvironment. Using off-the-shelf hardware and software wedescribe a simple setup that can be used to explore physically virtual objects in space. This setup comprises of a prototype glove with a number of vibrating actuators to provide the haptic feedback, a Kinect camera for the tracking of the user's hand and a virtual reality development environment. As proof of concept and to test the efficiency of the system as well as its potential applications, we developed a simple application where we created 4 different shapes within a virtual environment in order to try toexplore them and guess their shape through touch alone.

Mètode psicofísic “cos-art”: relació amb l’emissió de la veu

Es presenten els resultats d’una investigació de caràcter qualitatiu -encara que s’ha utilitzat en algun moment l’estadística- pel que fa a la valoració que un grup d’alumnes de la Universitat Ramon Llull fa del mètode psicofísic Cos-Art com a treball que serveix per millorar l’emissió de la veu. Les tècniques i els instruments per a la recollida d’informació que s’han utilitzat han estat el diari de camp i el qüestionari. L’anàlisi de resultats mostra el treball global del Mètode com a efectiu. En blocs més específics, com poden ser els temes de respiració o llengua, entre altres, la freqüència més elevada en les respostes ha estat que el treball de Cos-Art els ha ajudat bastant. Per últim, un gran nombre d’alumnes consideren que el Mètode Cos-Art ajuda, de forma molt positiva, a prendre consciència d’un mateix.

Mice generated by in vitro fertilization exhibit vascular dysfunction and shortened life span.

Children conceived by assisted reproductive technologies (ART) display a level of vascular dysfunction similar to that seen in children of mothers with preeclamspia. The long-term consequences of ART-associated vascular disorders are unknown and difficult to investigate in healthy children. Here, we found that vasculature from mice generated by ART display endothelial dysfunction and increased stiffness, which translated into arterial hypertension in vivo. Progeny of male ART mice also exhibited vascular dysfunction, suggesting underlying epigenetic modifications. ART mice had altered methylation at the promoter of the gene encoding eNOS in the aorta, which correlated with decreased vascular eNOS expression and NO synthesis. Administration of a deacetylase inhibitor to ART mice normalized vascular gene methylation and function and resulted in progeny without vascular dysfunction. The induction of ART-associated vascular and epigenetic alterations appeared to be related to the embryo environment; these alterations were possibly facilitated by the hormonally stimulated ovulation accompanying ART. Finally, ART mice challenged with a high-fat diet had roughly a 25% shorter life span compared with control animals. This study highlights the potential of ART to induce vascular dysfunction and shorten life span and suggests that epigenetic alterations contribute to these problems.

Hissikuiluelementtien soveltuvuus kerrostalojen saneerauskohteisiin

Työn tavoitteena oli kartoittaa hissikuiluelementtien markkinapotentiaali kerrostalojen saneerauskohteissa, arvioida yhtiön markkinointi- ja suunnitteluresursseja, tehdä tuotannon kehittämissuunnitelma ja analysoida elementtiliiketoiminnan kannattavuus. Tutkimus sisältää sekä teoreettisen että empiirisen osan. Teoreettisessa osassa tutkittiin markkinoita ja niihin vaikuttamista sekä markkinoiden kilpailukeinoja ja toteuttamistapoja teoreettisesti kirjallisuuden avulla. Markkinaselvityksessä saatiin selville toteutuneiden kohteiden kautta potentiaaliset toimitusmäärät tulevaisuudessa. Tarkasteltiin yhtiön kykyä vastata kysyntään markkinointi-, suunnittelu- sekä valmistuskapasiteetin osalta. Lopuksi laskettiin kysynnän aiheuttama lisäinvestointikustannus ja määriteltiintuotteen hinta. Näin pystyttiin laskemaan liiketoiminnan kannattavuuskalkyyli, mikä kannusti panostamaan markkinaan. Saneeraushissikuilutoiminta osoittautui kannattavaksi Specifinn Oy:ssä määriteltyjen investointien tuottotavoitteen kannalta.

Les Grands du dessin : quatre siècles d'art italien à travers les fac-similés de la "Biblioteca di disegni" : [exposition], Bibliothèque nationale, 1982, [10 novembre-10 décembre 1982, Paris]

[Exposition. Paris, Bibliothèque nationale. 1982]

L'art de péter , essai théori-physique et méthodique, à l'usage des personnes constipées... Suivi de l'Histoire de Pet-en-l'Air & de la reine des Amazones... Nouvelle édition. Augmentée de la Société des francs-péteurs...

Comprend : Histoire du prince Pet-en-l'Air et de la reine des Amazones ; La Société des francs-péteurs