Search results for "method."
showing 10 items of 13043 documents
3D models of humanoid soccer robot in USAR sim and robotics studio simulators
2008
This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibi…
UAV and GPR Data Integration in Glacier Geometry Reconstruction: A Case Study from Irenebreen, Svalbard
2022
Although measurements of thickness and internal structure of glaciers are substantial for the understanding of their evolution and response to climate change, detailed data about polythermal glaciers, are scarce. Here, we present the first ground-penetrating radar (GPR) measurement data of Irenebreen, and high-resolution DEM and orthomosaic, obtained from unmanned aerial vehicle (UAV) photogrammetry. A combination of GPR and UAV data allowed for the reconstruction of the glacier geometry including thermal structure. We compare different methods of GPR signal propagation speed determination and argue that a common midpoint method (CMP) should be used if possible. Our observations reveal that…
Non-convex power allocation games in MIMO cognitive radio networks
2013
Consideramos un escenario de reparto del espectro, basado en la detección, en una red de radio cognitiva MIMO donde el objetivo general es maximizar el rendimiento total de cada usuario de radio cognitiva optimizando conjuntamente la operación de detección y la asignación de potencia en todos los canales, bajo una restricción de interferencia para los usuarios primarios. Los problemas de optimización resultantes conducen a un juego no convexo, que presenta un nuevo desafío a la hora de analizar los equilibrios de este juego. Con el fin de hacer frente a la no convexidad del juego, utilizamos un nuevo concepto relajado de equilibrio, el equilibrio cuasi-Nash (QNE). Se demuestran las condicio…
Non-symmetrized Hyperspherical Harmonics Method for Non-equal Mass Three-Body Systems
2018
The non-symmetrized hyperspherical harmonics method for a three-body system, composed by two particles having equal masses, but different from the mass of the third particle, is reviewed and applied to the $^3$H, $^3$He nuclei and $^3_{\Lambda}$H hyper-nucleus, seen respectively as $nnp$, $ppn$ and $NN\Lambda$ three-body systems. The convergence of the method is first tested in order to estimate its accuracy. Then, the difference of binding energy between $^3$H and $^3$He due to the difference of the proton and the neutron masses is studied using several central spin-independent and spin-dependent potentials. Finally, the $^3_{\Lambda}$H hypernucleus binding energy is calculated using diffe…
Localization of 2D Cameras in a Known Environment Using Direct 2D-3D Registration
2014
International audience; In this paper we propose a robust and direct 2D-to- 3D registration method for localizing 2D cameras in a known 3D environment. Although the 3D environment is known, localizing the cameras remains a challenging problem that is particularly undermined by the unknown 2D-3D correspondences, outliers, scale ambiguities and occlusions. Once the cameras are localized, the Structure-from-Motion reconstruction obtained from image correspondences is refined by means of a constrained nonlinear optimization that benefits from the knowledge of the scene. We also propose a common optimization framework for both localization and refinement steps in which projection errors in one v…
Polyphony in the classroom: reporting narrative action research reflexively
2010
In this article we will present a reflexive way of producing a narrative analysis on teaching and learning that involves all participants of the pedagogical process. Our theoretical contribution rests on the concept ‘lived pedagogy’, adapted from Max van Manen's term ‘lived experience’. Like van Manen, we start by asking the key question of phenomenological–hermeneutical research: what is the nature of the phenomenon as meaningfully experienced? For us, the phenomenon is the pedagogical relationship; the interaction between the people involved in the pedagogical process. Thus, we will present how lived pedagogy is researched through the narratives told by the teacher‐researcher, the student…
Case study on teachers’ contribution to children’s participation in Finnish preschool classrooms during structured learning sessions
2013
The main aim of this study was to identify different teaching practices and explore the types of opportunities that they provide for children’s participation in four different Finnish preschool classrooms for 6-year olds during structured learning sessions. Observational data of four preschool teachers were analyzed according to the principles of qualitative content analysis. Three themes of teachers’ practices were identified, which described the key practices through which teachers influence children’s participation, namely, through discussion and conversations; by referring to shared rules and managing the classroom; and through demonstrating pedagogical sensitivity and understanding tow…
Contradictions as Drivers for Improving Inclusion in Teaching Pupils with Special Educational Needs
2018
The aim of this paper is to enhance understanding of the contradictions that arise in the drive to improve teaching practices among pupils with special educational needs (SENs). A questionnaire was administrated to 167 classroom teachers, subject teachers, special education teachers and teaching assistants in Finland. The analysis, based on thematic coding and analysis of manifestations of contradictions, revealed contradictions related to artefacts of teaching, participation in the community and school staff’s professional ability to teach SEN pupils in mainstream. Four types of manifestations, namely conflicts, critical conflicts, dilemmas, and double binds, could be identified in the dat…
Autonomy-Supportive and Controlling Styles of Teaching
2015
Autonomy-supportive and controlling styles of teaching are usually considered to be the opposite ends of a single continuum. An alternative view, however, is that individuals can perceive both styles simultaneously, which suggests that they are different constructs ( Bartholomew, Ntoumanis, Ryan, Bosch, & Thøgersen-Ntoumani, 2011 ). Using cluster analysis, Study 1 (N = 160) confirmed that both teaching styles were perceived by students. Four clusters appeared depending on the student’s score on the measures of autonomy and controlling styles (high autonomy–high control; low autonomy–low control; high autonomy–low control; low autonomy–high control). Participants in the high autonomy–lo…
On the stability of some controlled Markov chains and its applications to stochastic approximation with Markovian dynamic
2015
We develop a practical approach to establish the stability, that is, the recurrence in a given set, of a large class of controlled Markov chains. These processes arise in various areas of applied science and encompass important numerical methods. We show in particular how individual Lyapunov functions and associated drift conditions for the parametrized family of Markov transition probabilities and the parameter update can be combined to form Lyapunov functions for the joint process, leading to the proof of the desired stability property. Of particular interest is the fact that the approach applies even in situations where the two components of the process present a time-scale separation, w…