Search results for "methods"

Real-Time Visual Grasp Synthesis Using Genetic Algorithms and Neural Networks

2007

This paper addresses the problem of automatic grasp synthesis of unknown planar objects. In other words, we must compute points on the object’s boundary to be reached by the robotic fingers such that the resulting grasp, among infinite possibilities, optimizes some given criteria. Objects to be grasped are represented as superellipses, a family of deformable 2D parametric functions. They can model a large variety of shapes occurring often in practice by changing a small number of parameters. The space of possible grasp configurations is analyzed using genetic algorithms. Several quality criteria from existing literature together with kinematical and mechanical considerations are considered.…

A possible approach to the development of robotic multi-agent systems

2004

The design of a an agent system for robotics is a problem that involves aspects coming from many different disciplines (robotics, artificial intelligence, computer vision, software engineering). The most difficult part of it, often consists in producing and tuning the algorithms that incorporates the robot behavior (planning, obstacle avoidance,. . . ) and abilities (vision, manipulation, navigation,. . . ). Frequently, the reuse of these parts is left to a copy and paste procedure from previous applications to the new one. In so doing many problems could arise. We propose a comprehensive approach for multi-agent systems oriented to robotics applications that uses a complete design methodol…

Referenceless thermometry using radial basis function interpolation

2014

The Proton Resonance Frequency (PRF) shift provide a method for temperature change measurements during thermotherapy. Conventional PRF thermometry works subtracting one or multiple baseline images. The method leads to artifacts caused by tissue motion and frequency drift. Various works estimating the background phase from each acquired image phase are present in literature. These algorithms are called “referenceless” because they don’t require any subtraction of baseline images for calculating temperature increment. Conventional referenceless methods estimate baseline image by fitting the background phase outside the heated region through a polynomial approach. In this work a background pha…

Optic disc positioning and blood vessels extraction on eye fundus

2009

This paper presents two methods aimed to the optic disc positioning on the retinal images. The first is based on a template of the entire image, while the second is based on the retinal vascularisation. For this second task, also a vessel extraction method is provided. Both the algorithm have been tested on test images of the Drive Database.

3D Map Computation from Historical Stereo Photographs of Florence

2018

The analysis of early photographic sources is fundamental for documenting and understanding the evolution of a city so rich in history and art as Florence. Indeed, by the 1860s several photographers used to work in town, and their images (often obtained through stereoscopic set-ups) can help us to reconstruct Florence in 3D as it was by the time of the Italian unification. The first and most delicate part of such reconstruction process is the computation of disparity maps from the historical stereo pairs. This is a very challenging task for fully-automatic computer vision algorithms, since XIX century photographs are affected by several problems—ranging from superficial damages to asynchron…

L'ammortamento alla francese: una questione di trasparenza

2023

Il saggio esamina i numerosi problemi posti dal c.d. metodo di ammortamento alla francese per osservare che buona parte dei problemi dibattuti sorgono dal difficile dialogo tra giuristi e matematici finanziari. Sotto il profilo giuridico rileva, in particolare, che l’ammor- tamento alla francese pone soprattutto problemi di trasparenza delle condizioni contrattuali e di comprensione, da parte del cliente, delle modalità di rimborso del capitale mutuato e dell’entità del debito residuo. The essay examines some problems posed by the so-called French amortization method to observe that most of the debated problems arise from the difficult dialogue between jurists and financial mathematicians. …

The 3D modelling of musive surfaces for a monitoring protocol

2022

In questo lavoro l'utilizzo della metodologia digitale tridimensionale per la scansione di superfici musive è stato indagato nell'ambito dell'intervento di restauro di un mosaico pavimentale all'interno della Cappella Palatina di Palermo. Grazie alla possibilità di sezionare il modello di maglia con un software di rappresentazione digitale, è stato possibile confrontare la superficie della maglia con una superficie piana di riferimento allo scopo di valutare uno dei declini della posta dei pavimenti musivi, ovvero l'abrasione delle superfici In this paper the use of three-dimensional digital methodology for scanning musive surfaces was investigated within the restoration intervention on a f…

Per uno studio della storiografia musicale in Italia nel XIX secolo

2005

Italian musicologists have hitherto shown scant interest in the music historiography of the nineteenth century. And to date, there has been no global vision of the ways of which history was written during the period in which scientific musicology was born (the late nineteenth century and early twentieth). Also with a view to engaging on a “history of the histories of music” some time in the future, the paper examines the following issues: 1) the passage from history interpreted philosophically to history written by professional historians; 2) the foundation of the categories of “monument” and “document” and the relative processes of historicization (German: Historisierung) in the field of m…

Review al libro di Sanja MAJER-BOBETKO - Gorana DOLINER - Zdravko BLAZEKOVIC: Hrvatska glazbena historiografija u 19. stoljecu (Croatian 19th-century…

2012

Vjera Katalinić: glazbeni izvori i jedinstvo europske kulture / Vjera Katalinić: Musical Sources and the Unity of European Culture

2020

The generation to which Vjera Katalinic belongs is that of those born about ten years after the end of the Second World War. It is the generation of young people who grew up in Zagreb, who through no fault of their own were obliged to pay for the faults of the fascist Ante Pavelić. Up until 1990, one must remember, Croatia was under ‘special surveillance’. Any proposal for change coming from this republic kindled the fear of a nationalist reflux, the worst syndrome for the Federation of Yugoslavia. The article analyses the career of Katalinic from the 1980s to her jubilee in 2020, and emphasises the outcomes from the time of her charge as director of the Institute of Musicological Research …