Cores e com-posições de um Jardim de Infância Waldorf: tecendo com a Teoria Ator-rede

A presente pesquisa foi produzida num Jardim de Infância Waldorf no Rio de Janeiro e se propôs a um exercício de tradução, com o uso do dispositivo TeAR, que aliava o trabalho etnográfico no cotidiano escolar, aos elementos da tecelagem como artesania e ao modo de pesquisar da Teoria Ator-Rede (TAR). Entre as questões que emergiram ao longo do processo, podemos destacar: a com-vivência como prática educativa no encontro com a diferença, que vinculou-se ao método de PesquisarCOM da TAR, proposto pela psicóloga Marcia Moraes; uma maneira de aprender com os mal-entendidos, refazendo nossa maneira de interpelar o outro quando este recalcitra; incluindo humanos e não-humanos, sem domínios ou separações hierarquizantes; conhecendo com e não sobre o outro. Por outro lado, ao entendermos o conhecimento como processo de criação de si e do mundo, a produção de conhecimento na com-vivência fez emergir, como efeito das práticas de limite e recalcitrância, a diferenciação e singularização dos agentes, possibilitando a criação de novos limites e invenções. Assim, na afetação da experiência, chegamos à negociação dos interesses singulares e coletivos, na qual planos comuns e heterogêneos foram-se tecendo, de modo que as múltiplas possibilidades de vínculos aumentavam a potência de agir. Pensar com Latour que quando estamos mais vinculados, somos mais livres nos convida a experimentar novas formas de viver coletivamente, inventando a si de maneira vinculada e ao mesmo tempo proliferando modos de existir. Durante essa pesquisa, fiamos com as práticas do campo e tecemos versões de Educação Infantil na Pedagogia Waldorf cujos vínculos estão em movimento, constituindo uma ética na com-vivência

Reconstruction of Outdoor Sculptures from Silhouettes under Approximate Circular Motion of an Uncalibrated Hand-Held Camera

This paper presents a novel technique for reconstructing an outdoor sculpture from an uncalibrated image sequence acquired around it using a hand-held camera. The technique introduced here uses only the silhouettes of the sculpture for both motion estimation and model reconstruction, and no corner detection nor matching is necessary. This is very important as most sculptures are composed of smooth textureless surfaces, and hence their silhouettes are very often the only information available from their images. Besides, as opposed to previous works, the proposed technique does not require the camera motion to be perfectly circular (e.g., turntable sequence). It employs an image rectification step before the motion estimation step to obtain a rough estimate of the camera motion which is only approximately circular. A refinement process is then applied to obtain the true general motion of the camera. This allows the technique to handle large outdoor sculptures which cannot be rotated on a turntable, making it much more practical and flexible.

Physiological modelling for improved reliability in silhouette-driven gradient-based hand tracking

We present a gradient-based motion capture system that robustly tracks a human hand, based on abstracted visual information - silhouettes. Despite the ambiguity in the visual data and despite the vulnerability of gradient-based methods in the face of such ambiguity, we minimise problems related to misfit by using a model of the hand's physiology, which is entirely non-visual, subject-invariant, and assumed to be known a priori. By modelling seven distinct aspects of the hand's physiology we derive prior densities which are incorporated into the tracking system within a Bayesian framework. We demonstrate how the posterior is formed, and how our formulation leads to the extraction of the maximum a posteriori estimate using a gradient-based search. Our results demonstrate an enormous improvement in tracking precision and reliability, while also achieving near real-time performance. © 2009 IEEE.

Adaptive control of stiffness to stabilize hand position with large loads.

The goal of this work was to investigate stability in relation to the magnitude and direction of forces applied by the hand. The endpoint stiffness and joint stiffness of the arm were measured during a postural task in which subjects exerted up to 30% maximum voluntary force in each of four directions while controlling the position of the hand. All four coefficients of the joint stiffness matrix were found to vary linearly with both elbow and shoulder torque. This contrasts with the results of a previous study, which employed a force control task and concluded that the joint stiffness coefficients varied linearly with either shoulder or elbow torque but not both. Joint stiffness was transformed into endpoint stiffness to compare the effect on stability as endpoint force increased. When the joint stiffness coefficients were modeled as varying with the net torque at only one joint, as in the previous study, we found that hand position became unstable if endpoint force exceeded about 22 N in a specific direction. This did not occur when the joint stiffness coefficients were modeled as varying with the net torque at both joints, as in the present study. Rather, hand position became increasingly more stable as endpoint force increased for all directions of applied force. Our analysis suggests that co-contraction of biarticular muscles was primarily responsible for the increased stability. This clearly demonstrates how the central nervous system can selectively adapt the impedance of the arm in a specific direction to stabilize hand position when the force applied by the hand has a destabilizing effect in that direction.