Search results for " Kinematics"
showing 10 items of 109 documents
''Forward to the past''
2012
Carlini, Alessandro | Actis-Grosso, Rossana | Stucchi, Natale | Pozzo, Thierry; International audience; ''Our daily experience shows that the CNS is a highly efficient machine to predict the effect of actions into the future; are we so efficient also in reconstructing the past of an action? Previous studies demonstrated we are more effective in extrapolating the final position of a stimulus moving according to biological kinematic laws. Here we address the complementary question: are we more effective in extrapolating the starting position (SP) of a motion following a biological velocity profile? We presented a dot moving upward and corresponding to vertical arm movements that were masked i…
The Gaia-ESO Survey: Structural and dynamical properties of the young cluster Chamaeleon i
2017
Investigating the physical mechanisms driving the dynamical evolution of young star clusters is fundamental to our understanding of the star formation process and the properties of the Galactic field stars. The young (~2 Myr) and partially embedded cluster Chamaeleon I is one of the closest laboratories for the study of the early stages of star cluster dynamics in a low-density environment. The aim of this work is to study the structural and kinematical properties of this cluster combining parameters from the high-resolution spectroscopic observations of the Gaia-ESO Survey with data from the literature. Our main result is the evidence of a large discrepancy between the velocity dispersion …
Kaon-proton strong interaction at low relative momentum via femtoscopy in Pb-Pb collisions at the LHC
2021
Physics letters / B 822, 136708 (2021). doi:10.1016/j.physletb.2021.136708
An Optimized Architecture for CGA Operations and Its Application to a Simulated Robotic Arm
2022
Conformal geometric algebra (CGA) is a new geometric computation tool that is attracting growing attention in many research fields, such as computer graphics, robotics, and computer vision. Regarding the robotic applications, new approaches based on CGA have been proposed to efficiently solve problems as the inverse kinematics and grasping of a robotic arm. The hardware acceleration of CGA operations is required to meet real-time performance requirements in embedded robotic platforms. In this paper, we present a novel embedded coprocessor for accelerating CGA operations in robotic tasks. Two robotic algorithms, namely, inverse kinematics and grasping of a human-arm-like kinematics chain, ar…
Speed control of the V2 skating technique in elite cross-country skiers
2016
The aim was to examine how skiers control skiing speed using V2-skating. Subjects skied with three submaximal and maximal speeds on 100 m 4° uphill. Cycle variables and force parameters form the arms and legs were analysed. Cycle rate increased up to the maximum speed. Cycle length increased from the slowest speed to the all other speeds. Pole force and delta leg force increased up to the maximum speed. Ranges of motions and angular velocities of kick flexion and extension with knee and hip joints increased till highest submaximal speed. Speed was regulated with cycle length and rate while the latter was dominant after ∼5.0 m/s. Higher speed was reached with higher forces from arms and leg…
Movement Detection with Event-Based Cameras: Comparison with Frame-Based Cameras in Robot Object Tracking Using Powerlink Communication
2018
Event-based cameras are not common in industrial applications despite the fact that they can add multiple advantages for applications with moving objects. In comparison with frame-based cameras, the amount of generated data is very low while keeping the main information in the scene. For an industrial environment with interconnected systems, data reduction becomes very important to avoid network congestion and provide faster response time. However, the use of new sensors as event-based cameras is not common since they do not usually provide connectivity to industrial buses. This work develops a network node based on a Field Programmable Gate Array (FPGA), including data acquisition and trac…
Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…
2016
International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…
Unveiling the environment and faint features of the isolated galaxy CIG 96 with deep optical and HI observations
2018
Context. Asymmetries in atomic hydrogen (HI) in galaxies are often caused by the interaction with close companions, making isolated galaxies an ideal framework to study secular evolution. The AMIGA project has demonstrated that isolated galaxies show the lowest level of asymmetry in their HI integrated profiles compared to even field galaxies, yet some present significant asymmetries. CIG 96 (NGC 864) is a representative case reaching a 16% level. Aims. Our aim is to investigate the HI asymmetries of the spiral galaxy CIG 96 and what processes have triggered the star-forming regions observed in the XUV pseudo-ring. Methods. We performed deep optical observations at CAHA1.23m, CAHA2.2m and V…
Visual attention while solving the test of understanding graphs in kinematics: an eye-tracking analysis
2019
This study used eye-tracking to capture students' visual attention while taking a test of understanding graphs in kinematics (TUG-K). A total of N = 115 upper-secondary-level students from Germany and Switzerland took the 26-item multiple-choice instrument after learning about kinematics graphs in the regular classroom. Besides choosing the correct alternative among research-based distractors, the students were required to judge their response confidence for each question. The items were presented sequentially on a computer screen equipped with a remote eye tracker, resulting in a set of approx. 3000 paired responses (accuracy and confidence) and about 40 h of eye-movement data (approx. 500…
A Cognitive Architecture for Robotic Hand Posture Learning
2005
This paper deals with the design and implementation of a visual control of a robotic system composed of a dexterous hand and video camera. The aim of the proposed system is to reproduce the movements of a human hand in order to learn complex manipulation tasks or to interact with the user. A novel algorithm for robust and fast fingertips localization and tracking is presented. A suitable kinematic hand model is adopted to achieve a fast and acceptable solution to an inverse kinematics problem. The system is part of a cognitive architecture for posture learning that integrates the perceptions by a high-level representation of the scene and of the observed actions. The anthropomorphic robotic…