Dynamic picture of the inner asteroid belt: implications for the density, size and taxonomic distributions of real objects

In this paper, we construct a dynamic portrait of the inner asteroidal belt. We use information about the distribution of test particles, which were initially placed on a perfectly rectangular grid of initial conditions, after 4.2 Myr of gravitational interactions with the Sun and five planets, from Mars to Neptune. Using the spectral analysis method introduced by Michtchenko et al., the asteroidal behaviour is illustrated in detail on the dynamical, averaged and frequency maps. On the averaged and frequency maps, we superpose information on the proper elements and proper frequencies of real objects, extracted from the data base, AstDyS, constructed by Milani and Knezevic. A comparison of the maps with the distribution of real objects allows us to detect possible dynamical mechanisms acting in the domain under study; these mechanisms are related to mean-motion and secular resonances. We note that the two- and three-body mean-motion resonances and the secular resonances (strong linear and weaker non-linear) have an important role in the diffusive transportation of the objects. Their long-lasting action, overlaid with the Yarkovsky effect, may explain many observed features of the density, size and taxonomic distributions of the asteroids.

Utilizing Real Objects to Increase Reading Comprehension in Students with Significant Cognitive Disabilities

This poster presents the results of a study conducted to evaluate the effects of pairing read-alouds with real objects related to stories read to students with significant cognitive disabilities to increase reading comprehension skills. The participants are four elementary students. The target audience is special education teachers.

Unimanual and Bimanual Weight Perception of Virtual Objects with a new Multi-finger Haptic Interface

Accurate weight perception is important particularly in tasks where the user has to apply vertical forces to ensure safe landing of a fragile object or precise penetration of a surface with a probe. Moreover, depending on physical properties of objects such as weight and size we may switch between unimanual and bimanual manipulation during a task. Research has shown that bimanual manipulation of real objects results in a misperception of their weight: they tend to feel lighter than similarly heavy objects which are handled with one hand only [8]. Effective simulation of bimanual manipulation with desktop haptic interfaces should be able to replicate this effect of bimanual manipulation on weight perception. Here, we present the MasterFinger-2, a new multi-finger haptic interface allowing bimanual manipulation of virtual objects with precision grip and we conduct weight discrimination experiments to evaluate its capacity to simulate unimanual and bimanual weight. We found that the bimanual ‘lighter’ bias is also observed with the MasterFinger-2 but the sensitivity to changes of virtual weights deteriorated.

La il·lustració britànica

Estudi elaborat a partir d’una estada a la School of Modern Languages de la University of London, Gran Bretanya, entre agost i desembre del 2006. L’objectiu de la recerca consisteix en exposar el moviment empirista a través de Hume, Locke, Berkeley i altres filòsofs del segle XVIII. A més, s’analitza la filosofia escocesa del sentit comú, ja que va influenciar la filosofia catalana durant la “Renaixença”. El seu fundador, Thomas Reid, és conegut perquè va introduir una filosofia que no seguia l’escepticisme dels filòsofs citats. Sintetitzant, Hume va afirmar que l’experiència del sentit consisteix exclusivament en idees o impressions subjectives en la ment. Una resposta aquest “sistema ideal” va ser la filosofia del sentit comú que es va desenvolupar com a reacció a l’escepticisme de David Hume i altres filòsofs escocesos. Contra aquest “sistema ideal” la nova escola considera que l’experiència ordinària dels homes dona instintivament certes creences de la pròpia existència; de la existència dels objectes reals directament percebuts; i de “principis bàsics” basats en creences morals i religioses. Entre 1816 a 1870 la doctrina escocesa va ser adoptada com a filosofia oficial a França. Els seus principis van obtenir força a través de Víctor Cousin i de la traducció de les obres de Thomas Reid al francès per Jouffroy. Serà doncs, a partir de les traduccions franceses que Ramon Martí d’Eixalà va introduir a Catalunya la filosofia escocesa (no existeix cap prova que Martí d’Eixalà hagués conegut les versions angleses de les obres de Reid). En conclusió, el moviment escocès del sentit comú va influenciar l’escola catalana de filosofia.

An Application of Augmented Reality (AR) in the Teaching of an Arc Welding Robot

Augmented Reality (AR) is an emerging technology that utilizes computer vision methods to overlay virtual objects onto the real world scene so as to make them appear to co-exist with the real objects. Its main objective is to enhance the user’s interaction with the real world by providing the right information needed to perform a certain task. Applications of this technology in manufacturing include maintenance, assembly and telerobotics. In this paper, we explore the potential of teaching a robot to perform an arc welding task in an AR environment. We present the motivation, features of a system using the popular ARToolkit package, and a discussion on the issues and implications of our research.

3D surface point and wireframe reconstruction from multiview photographic images

This paper describes a new method for reconstructing 3D surface points and a wireframe on the surface of a freeform object using a small number, e.g. 10, of 2D photographic images. The images are taken at different viewing directions by a perspective camera with full prior knowledge of the camera configurations. The reconstructed surface points are frontier points and the wireframe is a network of contour generators. Both of them are reconstructed by pairing apparent contours in the 2D images. Unlike previous works, we empirically demonstrate that if the viewing directions are uniformly distributed around the object's viewing sphere, then the reconstructed 3D points automatically cluster closely on a highly curved part of the surface and are widely spread on smooth or flat parts. The advantage of this property is that the reconstructed points along a surface or a contour generator are not under-sampled or under-represented because surfaces or contours should be sampled or represented with more densely points where their curvatures are high. The more complex the contour's shape, the greater is the number of points required, but the greater the number of points is automatically generated by the proposed method. Given that the viewing directions are uniformly distributed, the number and distribution of the reconstructed points depend on the shape or the curvature of the surface regardless of the size of the surface or the size of the object. The unique pattern of the reconstructed points and contours may be used in 31) object recognition and measurement without computationally intensive full surface reconstruction. The results are obtained from both computer-generated and real objects. (C) 2007 Elsevier B.V. All rights reserved.

Selecting object pairs for action: is the active object always first?

Perception is linked to action via two routes: a direct route based on affordance information in the environment and an indirect route based on semantic knowledge about objects. The present study explored the factors modulating the recruitment of the two routes, in particular which factors affecting the selection of paired objects. In Experiment 1, we presented real objects among semantically related or unrelated distracters. Participants had to select two objects that can interact. The presence of distracters affected selection times, but not the semantic relations of the objects with the distracters. Furthermore, participants first selected the active object (e.g. teaspoon) with their right hand, followed by the passive object (e.g. mug), often with their left hand. In Experiment 2, we presented pictures of the same objects with no hand grip, congruent or incongruent hand grip. Participants had to decide whether the two objects can interact. Action decisions were faster when the presentation of the active object preceded the presentation of the passive object, and when the grip was congruent. Interestingly, participants were slower when the objects were semantically but not functionally related; this effect increased with congruently gripped objects. Our data showed that action decisions in the presence of strong affordance cues (real objects, pictures of congruently gripped objects) relied on sensory-motor representation, supporting the direct route from perception-to-action that bypasses semantic knowledge. However, in the case of weak affordance cues (pictures), semantic information interfered with action decisions, indicating that semantic knowledge impacts action decisions. The data support the dual-route account from perception-to-action.

Monismo do corpo: único ponto de partida atualmente possível para o desenvolvimento de uma psicologia científica

Inicia-se o trabalho, reconstituindo-se, sob um ponto de vista histórico, o problema do dualismo e do monismo, na Psicologia. A reconstituição é feita partindo-se de uma origem situada em Sócrates e, dai, desenvolvendo-se até os dias atuais, onde, demonstra-se, a questão permanece. A identificação daquela origem foi determinada pela circunstância de, alí, o problema ter merecido um estudo sistematizado e ter se caracterizado como metafísico. Entendendo-se, com isso, que a questão a resolver era a respeito do que existiria como entidade autônoma. Neste caso, então, se apenas o "corpo", se apenas a "mente" ou se os dois. As soluções que propunham a existência só da mente (monistas da mente), ou de mente e corpo, enquanto entidades distintas (dualistas) viriam a ser, portanto, decisivas para a própria concepção da Psicologia. Como se afirma ser, a partir de uma decisão referente ao problema anterior, que se deva desenvolver uma Psicologia cientifica, estabelece-se, no capítulo II, as concepções adotadas para Ciência, conhecimento científico e método científico. Ali, aproveita-se para justificar porque parte do estudo deve cair sob o domínio da Filosofia da Ciência, como um todo e da Filosofia da Psicologia, em particular. No capítulo III, volta-se a demonstrar com maior ênfase, que o problema "mente-corpo" é, ainda hoje, metafísico e requer uma tomada de decisão, naqueles termos. Mostra-se que a decisão é sempre tomada quando nada como pressuposto, senão explícito, pelo menos implícito. Uma vez tendo-se demonstrado que só o corpo pode ser afirmado como representando alguma coisa que exista, em termos reais, no sentido metafísico, parte-se para o estabelecimento daquele que seria o autêntico objeto de estudo da Psicologia. Fazendo-se, então, uso de uma Semântica Filosófica "crítico-realista", demonstra-se que ele termina sendo: o conjunto de propriedades do objeto real representado pelo corpo e responsáveis pelas manifestações pelas quais a Psicologia, por uma tradição de investigação, sempre se interessou. Finalmente, no capítulo IV, concebe-se um modelo sistêmico para representar a Natureza. Nele vige a 'lei' da transformação, que resulta da' interação entre os subsistemas. Entre os subsistemas existem aqueles que representam objetos reais e são designados como "Corpo Humano". Estes estão sujeitos à mesma 'lei'. A partir da transformação do U23592 em Pb20782, constrói-se duas funções matemáticas, com base na teoria dos conjuntos, para demonstrar-se como funciona a lei da transformação ou a função transformação, aplicável a todos os subsistemas, que são elementos do Sistema que representa a Natureza. Dessas construções e mais algumas, ao serem aplicadas aos subsistemas que representam os objetos reais denotados como Corpo Humano, extrai-se um grande número de consequências para a Psicologia. Termina-se apresentando um modelo específico para representar o objeto real denotado por Corpo Humano. Este, como subsistema, também é um sistema e composto de quatro subsistemas: Motor, Emocional, Perceptivo e Cognitivo. O todo e as partes passam a funcionar regidos pela lei da Transformação.

Collisions with the Earth: the Moon's contribution

In the present work is analyzed the contribution of the Moon on the collisional process of the Earth with asteroids (NEOs). The dynamical system adopted is the restricted four-body problem Sun-Earth-Moon-particle. Using a simple analytical approach one can verify that, the orbit of an object can be significantly affected by the Moon's gravitational field when their relative velocity is smaller than 5 km/s. Therefore, the present work is based on hypothetical asteroids whose velocities relative to Moon are of the order of 1 km/s. In fact, there are several real objects (NEOs) with such velocities at the point they cross the Earth's orbit. The net results obtained indicate that the Moon helps to avoid collisions (2.6%) more than it contributes to extra collisions (0.6%). (C) 2003 COSPAR. Published by Elsevier Ltd. All rights reserved.

The generation of scenes in mixed reality environments using the chromakey technique

A classic problem in the development of Mixed Reality systems is the registration. The correct alignment between virtual objects and the real elements is extremely important for the coherent composition of the resultant scene. Considering this context, this paper describes an approach for the composition of scenes in Mixed Reality environments using the chromakey technique for the extraction of real objects. After that, the scene is mounted in a coherent way related to the depth in OpenGL framebuffer for posterior rendering. ©2007 IEEE.

Satélites irregulares de Júpiter: análise da captura de asteróides binários

Pós-graduação em Física - FEG

Simplificação de malhas visando representações em multirresolução

The representation of real objects in virtual environments has applications in many areas, such as cartography, mixed reality and reverse engineering. The generation of these objects can be performed through two ways: manually, with CAD (Computer Aided Design) tools, or automatically, by means of surface reconstruction techniques. The simpler the 3D model, the easier it is to process and store it. However, this methods can generate very detailed virtual elements, that can result in some problems when processing the resulting mesh, because it has a lot of edges and polygons that have to be checked at visualization. Considering this context, it can be applied simplification algorithms to eliminate polygons from resulting mesh, without change its topology, generating a lighter mesh with less irrelevant details. The project aimed the study, implementation and comparative tests of simplification algorithms applied to meshes generated through a reconstruction pipeline based on point clouds. This work proposes the realization of the simplification step, like a complement to the pipeline developed by (ONO et al., 2012), that developed reconstruction through cloud points obtained by Microsoft Kinect, and then using Poisson algorithm

Um método para reconstrução de superfícies baseado em nuvem de pontos visando representações em multirresolução

The representation of real objects in virtual environments has applications in many areas, such as cartography, mixed reality and reverse engineering. The generation of these objects can be performed in two ways: manually, with CAD (Computer Aided Design) tools, or automatically, by means of surface reconstruction techniques. The simpler the 3D model, the easier it is to process and store it. Multiresolution reconstruction methods can generate polygonal meshes in different levels of detail and, to improve the response time of a computer program, distant objects can be represented with few details, while more detailed models are used in closer objects. This work presents a new approach to multiresolution surface reconstruction, particularly interesting to noisy and low definition data, for example, point clouds captured with Kinect sensor

Interactive Augmentation of Live Images using a HDR Stereo Camera

Adding virtual objects to real environments plays an important role in todays computer graphics: Typical examples are virtual furniture in a real room and virtual characters in real movies. For a believable appearance, consistent lighting of the virtual objects is required. We present an augmented reality system that displays virtual objects with consistent illumination and shadows in the image of a simple webcam. We use two high dynamic range video cameras with fisheye lenses permanently recording the environment illumination. A sampling algorithm selects a few bright parts in one of the wide angle images and the corresponding points in the second camera image. The 3D position can then be calculated using epipolar geometry. Finally, the selected point lights are used in a multi pass algorithm to draw the virtual object with shadows. To validate our approach, we compare the appearance and shadows of the synthetic objects with real objects.

A Survey of Image-based Relighting Techniques

Image-based Relighting (IBRL) has recently attracted a lot of research interest for its ability to relight real objects or scenes, from novel illuminations captured in natural/synthetic environments. Complex lighting effects such as subsurface scattering, interreflection, shadowing, mesostructural self-occlusion, refraction and other relevant phenomena can be generated using IBRL. The main advantage of image-based graphics is that the rendering time is independent of scene complexity as the rendering is actually a process of manipulating image pixels, instead of simulating light transport. The goal of this paper is to provide a complete and systematic overview of the research in Imagebased Relighting. We observe that essentially all IBRL techniques can be broadly classified into three categories (Fig. 9), based on how the scene/illumination information is captured: Reflectance function-based, Basis function-based and Plenoptic function-based. We discuss the characteristics of each of these categories and their representative methods. We also discuss about the sampling density and types of light source(s), relevant issues of IBRL.