Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Making the impact on research and society : a case study: crowdsourcing solutions developed for the linguistic research and citizen science

Can crowdsourcing solutions serve many masters? Can they be beneficial for both, for the layman or native speakers of minority languages on the one hand and serious linguistic research on the other? How did an infrastructure that was designed to support linguistics turn out to be a solution for raising awareness of native languages? Since 2012 the National Library of Finland has been developing the Digitisation Project for Kindred Languages, in which the key objective is to support a culture of openness and interaction in linguistic research, but also to promote crowdsourcing as a tool for participation of the language community in research. In the course of the project, over 1,200 monographs and nearly 111,000 pages of newspapers in Finno-Ugric languages will be digitised and made available in the Fenno-Ugrica digital collection. This material was published in the Soviet Union in the 1920s and 1930s, and users have had only sporadic access to the material. The publication of open-access and searchable materials from this period is a goldmine for researchers. Historians, social scientists and laymen with an interest in specific local publications can now find text materials pertinent to their studies. The linguistically-oriented population can also find writings to delight them: (1) lexical items specific to a given publication, and (2) orthographically-documented specifics of phonetics. In addition to the open access collection, we developed an open source code OCR editor that enables the editing of machine-encoded text for the benefit of linguistic research. This tool was necessary since these rare and peripheral prints often include already archaic characters, which are neglected by modern OCR software developers but belong to the historical context of kindred languages, and are thus an essential part of the linguistic heritage. When modelling the OCR editor, it was essential to consider both the needs of researchers and the capabilities of lay citizens, and to have them participate in the planning and execution of the project from the very beginning. By implementing the feedback iteratively from both groups, it was possible to transform the requested changes as tools for research that not only supported the work of linguistics but also encouraged the citizen scientists to face the challenge and work with the crowdsourcing tools for the benefit of research. This presentation will not only deal with the technical aspects, developments and achievements of the infrastructure but will highlight the way in which user groups, researchers and lay citizens were engaged in a process as an active and communicative group of users and how their contributions were made to mutual benefit.

A reference handbook of the medical sciences : embracing the entirerange of scientific and practical medicine and allied science

UANL

Experimentation and political science : six applications

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal

Impact of ICT on Library and Information Science: Major Shifts and Practices in CUSAT Central Library

Information is knowledge, facts or data. For the purpose of enabling the users to assimilate information, it should be repacked. Knowledge becomes information when it is externalized i.e. put in to the process of communication. The effectiveness of communication technology depends how well it provides its clients with information rapidly, economically and authentically. A large number of ICT enabled services including OPAC; e-resources etc. are available in the university library. Studies have been done to find the impact of ICT on different sections of CUSAT library by observing the activities of different sections; discussions with colleagues and visitors; and analyzing the entries in the library records. The results of the studies are presented here in the form of a paper.

A.I.C.L.E. : enfoque didáctico-práctico : physical education, history and geography, science, maths.

Actividades en lengua inglesa dirigidas a alumnos de enseñanza secundaria para las áreas de educación física, historia y geografía, ciencias naturales y matemáticas. El objetivo es contar con un material de apoyo para las aulas bilingües y poder suplir las necesidades de actividades y materiales en la enseñanza de esta lengua. Las actividades de cada área van acompañadas de una ficha donde se especifica el título de la actividad, la materia a la que pertenece, el nivel, los objetivos, los contenidos, la temporalización y la evaluación de la misma .

Nano Electronics and Computer Science Research Group

This is the website for the Nano Research group based at the University of Southampton ECS department, and details current research topics and the people connected with these. It shows some of the current research topics undertaken at the center, and gives an outline of what can be done for post graduate courses.

Mapping the Web and Web Science

This tutorial material introduces an activity in which the students are asked to redraw Tim Berners-Lee's map of the Web to include Web Science.

What’s the Difference between Web Technology and Web Science? Opportunities for study and research at the University of Southampton

The University of Southampton has a long history of pursuing research, development and social change with the Web This document guides you through the opportunities for Web-related study and research that we offer: an MSc in Web Technology; a 3-year PhD in Web Technology; an MSc in Web Science or a 4-year PhD in Web Science

How should american students understand their civic culture? : the continuing battle over the 2002 Massachusetts history and social science curriculum framework.

Resumen basado en el del autor

Safe and exciting science : a pack of training activities on health and safety for science departments in secondary schools and colleges and for initial teacher training.

Es un recurso formativo elaborado en respuesta a diversas solicitudes de escuelas para ayudar a éstas en los servicios de salud y actividades de formación en seguridad. Este material puede ser utilizado por los profesores en las prácticas realizadas en los laboratorios escolares con un riesgo mínimo. Va dirigido a asesores científicos, profesores, consultores y formadores de docentes.

Teaching, learning and assessing science 5-12.

Explica la importancia de la enseñanza de las ciencias a los niños y presenta un marco teórico sobre la forma de realizarla. La educación científica es analizada desde dos perspectivas: la enseñanza y el aprendizaje. El autor, con una visión constructivista del aprendizaje, reconoce que los niños ya tienen ideas sobre el mundo en que viven, y da consejos sobre cómo los profesores pueden ayudarlos a desarrollar su comprensión y cambiar su percepción a una visión más científica. Cubre todas las etapas de la enseñanza para estudiantes con edades comprendidas entre cinco y doce años.

Teaching and learning science.

Publicación que pone de relieve las consecuencias de la investigación para la enseñanza y el aprendizaje de la ciencia. Tiene dos objetivos principales: reunir los resultados de las investigaciones en un número de áreas de importancia en la educación de la ciencia; mostrar cómo estos resultados ofrecen ideas sobre programas de lecciones y formas de mejorar la práctica de aula. Estructurado en diez capítulos Cada uno está organizado para proporcionar dos niveles de acceso a la información en el texto. Para ayudar a los lectores a una visión rápida, cada capítulo contiene cuadros resúmenes relativos a los materiales del texto.

La London School of Economics and Political Science.

Historia de la evolución de la famosa escuela de ciencias políticas y económicas, London School of Economics and Political Sciencie, centrándonos en las actividades puramente académicas desde su nacimiento, y en las labores llevadas a cabo por los sucesivos directores: W. A. Hewins, Halford J. Mackinder, W. Pember Reeves, Sir William Beveridge y A. M. Carr-Saunders.