Displacement Of Object Research Articles

Contribution to Human Multi-Robot System Interaction Application to a Multi-Robot Mission Editor

The general objective of this work is to model and conceive a system allowing a user, more particularly a disabled person, to give a mission to a team of robots in a structured indoor type environment and to determine the whole processes necessary to its execution. The missions are of assistance type, objects displacement and site monitoring. The increase of the robots number involves additional management difficulties, thus there is a crucial need for providing an interface adapted for the input and the supervision of this type of mission. We propose a model based on two levels of abstraction through which the user request is analyzed. A first level takes care of the syntactic and semantics checkings by validating and supplementing the request. A second level takes care of the geometrical checkings and validates the passage of the robots in formation for the transport of an object. The result is then presented to the user. The originality of this work stands mainly in the approach of the human multi-robot system interaction. The proposed system is participative, interactive and incremental, with an active assistance to the mission specification. A solution for setting up the levels of the model is proposed as well as examples of use.

In-plane and out-of-plane displacement measurement by ultrasonic speckle correlation method (USCM)

When an object moves, ultrasonic speckles backscattered from its surface will follow the object to move. From the Kirchhoff diffraction theory and the correlation principles of random signals, the necessary condition for keeping the correlativity between the speckle fields before and after the objective displacement was deduced. Based on this condition, the formulas for the relationship between the speckle displacement and the objective displacement were obtained. Practical measurement was performed. Ultrasonic digital speckle correlation method was used to measure the in-plane displacement and out-of-plane displacement of an object. The displacements of the objective surface were evaluated after the displacements of the speckles were determined.This method can be also used to measure the displacements of an inner objective surface. A mountain-climbing search method was proposed, which enabled us to find the maximum correlation coefficient in the correlation operation quickly and efficiently. The experimental results showed good agreement with the theoretical predictions.

Static and dynamic location in French and in English

Available research (Bowerman & Choi, 2003; Slobin, 1996) shows crosslinguistic differences in how children talk about space, suggesting the impact of languagespecific factors on language acquisition. This study compares the productions of French children aged 3, 4 and 5 years (N = 60) with those of French and English adults (N = 40) in two tasks that required them to locate objects and to describe object displacements. French adults frequently rely on verbs and focus on manner of attachment, whereas English adults frequently rely on satellites and focus on posture or manner of displacement. French children show few age differences between 3 and 5 years, generally following the French pattern from 3 years on, although they also differ from both groups of adults in some respects, showing developmental changes (overgeneralizations in prepositional use, expansion of the verbal lexicon). The discussion highlights the impact of language-specific determinants of acquisition in relation to the typological properties of French and English as verb-framed vs. satellite-framed languages. It is argued that languages invite speakers to rely on different linguistic means (information locus) and to pay attention to different types of information (information focus), thereby inducing different ways of organizing underlying spatial categories.

Tracking the displacement of objects: A series of tasks with great apes (Pan troglodytes, Pan paniscus, Gorilla gorilla, and Pongo pygmaeus) and young children (Homo sapiens).

The authors administered a series of object displacement tasks to 24 great apes and 24 30-month-old children (Homo sapiens). Objects were placed under 1 or 2 of 3 cups by visible or invisible displacements. The series included 6 tasks: delayed response, inhibition test, A not B, rotations, transpositions, and object permanence. Apes and children solved most tasks performing at comparable levels except in the transposition task, in which apes performed better than children. Ape species performed at comparable levels in all tasks except in single transpositions, in which chimpanzees (Pan troglodytes) and bonobos (Pan paniscus) performed better than gorillas (Gorilla gorilla) and orangutans (Pongo pygmeaus). All species found nonadjacent trials and rotations especially difficult. The number of elements that changed locations, the type of displacement, and having to inhibit predominant reaching responses were factors that negatively affected the subjects' performance.

Grasp Stability Analysis of Two Objects in Two Dimensions

This paper analyzes grasp stability of two objects in two dimensions. In the previous researches on the grasp stability, the number of grasped objects is restricted to one. For efficiency of tasks, multiple objects had better been grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects must be quantitatively evaluated. In case of two grasped objects in two dimensions, the number of parameters of object displacement is six. However, the displacement of the objects is constrained by each other, because the contact between the objects must be maintained. Independent parameters of the object displacement are provided and then finger displacement is derived. The grasp stability is evaluated from the viewpoint of the potential energy method. From numerical examples, the effect of curvature at contact point between two objects is demonstrated. The effect of this curvature stands for the feature of multiple objects.

Improving accuracy in estimation of artery-wall displacement by referring to center frequency of RF echo

Noninvasive measurement of mechanical properties, such as elasticity, of the arterial wall, is useful for diagnosis of atherosclerosis. The elasticity of the arterial wall can be estimated by combining measurement of displacement of the arterial wall with that of blood pressure. In general, the displacement of the arterial wall is estimated from the phase shift of radio frequency (RF) echoes between two consecutive frames using a correlation estimator with quadrature demodulated complex signals. Recently, digitized data of broadband RF echoes are available in modern diagnostic equipment. The Fourier transform can be used to estimate the phase of the RF echo at each frequency within the RF frequency bandwidth. Therefore, the phase shifts between RF echoes of two consecutive frames can be estimated at multiple frequencies. In this estimation, due to object displacement, the RF echo is time shifted in comparison with that of the previous frame. However, the position of the time window for the Fourier transform is not changed between two consecutive frames. This change in relative position between the RF echo and the time window has a strong influence on the estimation of the artery-wall displacement, resulting in error. To suppress this error, the phase shift should be estimated at the actual RF center frequency. In this paper, this error suppression was investigated through simulation experiments and in vivo experiments on the human carotid artery.

Grip-force control of an elastic object by vision-based slip-margin feedback during the incipient slip

In this paper, a grip-force control of an elastic object is proposed based on a visual slip-margin feedback. When an elastic object is pressed and slid slightly on a rigid plate, a partial called incipient slip, occurs on the contact surface. The slip margin between an elastic object and a rigid plate is estimated based on the analytic solution of a Hertzian contact model. A one-degree-of-freedom gripper consisting of a camera and a force sensor is developed. The slip margin can be estimated from the tangential force measured by a force sensor, the deformation of the elastic object and the radius on the contact area both measured by a camera. In the proposed method, the friction coefficient is not explicitly needed. The eccentricity is used to estimate the displacement of the elastic object at the contact area with high accuracy. The grip force is controlled by a direct feedback of the estimated slip margin. The proof of the contact stability by the proposed control is analytically given. As a result, the slip margin is maintained at a desired value, without occurring the gross slip against a disturbance traction force to the object. The validity of the proposed method is confirmed by experiments.

The Dog's Role in the Analyst's Consulting Room

Joe, a Labrador retriever, has accompanied an analyst in the consulting room since the dog was age three. Patients uniformly find him soothing and reassuring. In this capacity, he facilitates the therapeutic alliance and the holding environment. In addition, he often functions as a transitional object and transference displacement. Patients frequently use him as an introject for certain qualities they desire, such as security, strength, and confidence. Sometimes he promotes enactments between the patient and the analyst. At other times, he functions as a countertransference displacement for the analyst. On occasion, he is incorporated into the patient's defensive maneuvers and resistance. In each of these roles, he facilitates key elements of the therapeutic process, including exploration, understanding, interpretation, and working-through. Perhaps his most important role is that of a nonjudgmental, supportive, loyal cotherapist. Case illustrations highlight Joe's various functions in the analyst's consulting room.

Wistar rats show episodic-like memory for unique experiences

Human episodic memory refers to the recollection of an unique past experience in terms of its details, its locale, and temporal occurrence. Episodic memory, even in principle, has been difficult to demonstrate in non-verbal mammals. Previously, we provided evidence that mice are able to form an integrated memory for “what,” “where,” and “when” aspects of single experiences by combining different versions of the novelty-preference paradigm, i.e., object recognition memory, the memory for locations in which objects were explored, and the temporal order memory for objects presented at distinct time points. In the present series of experiments we evaluated whether this paradigm, with minor modifications, also works with rats. We found that rats spent more time exploring an “old familiar” object relative to a “recent familiar” object, suggesting that they recognized objects previously explored during separate trials and remembered their order of presentation. Concurrently, the rats responded differentially to spatial object displacement dependent on whether an “old familiar” or “recent familiar” object was shifted to a location, where it was not encountered previously. These results provide strong evidence that the rats established an integrated memory for “what,” “where,” and “when.” We also found that acute stress impaired the animal’s performance in the episodic-like memory task, which, however, could be partially reversed by the N-Methyl- d-aspartate-receptors agonist d-cycloserine.

Actividad poltergeist y el caso “Andrés Venier”: Algunas consideraciones neuropsicológicas, fenomenológicas y psicodinámicas

In this article the author discusses the phenomenology, neuropsychological and psychodynamical issues about poltergeist activity, with main emphasis on Andrés Venier’s case, of Río Tercero, province of Córdoba, Argentina. The phenomenon seems to be caused by unconscious psychokinesis (mind over matter). These events have been reported since antiquity. Its phenomenology is described in terms of throwings and displacements of objects, noises, lights, apparitions and foul smellings. Besides, poltergeists are capable of interference with electronic equipment while other reports include somatic lesions.

High sensitive and heat-resistant magnetic sensor using magnetostrictive/Piezoelectric Laminate composite

A highly sensitive and heat-resistant magnetic sensor using a magnetostrictive/piezoelectric laminate composite is investigated. The sensing principle is based on the magnetostrictive and piezoelectric effect, whereby a detected yoke displacement is transduced into a voltage on the piezoelectric materials. The sensor is intended to detect the displacement of a ferromagnetic object in a high temperature environment, where conventional magnetic sensors are not available. Such applications include sensors in automobile engines and machinery used in material processing. The sensor features combination of a laminate composite of magnetostrictive/piezoelectric materials with high Curie temperatures and an appropriate magnetic circuit to convert mechanical displacement to sensor voltages. This paper describes the sensing principle and demonstrates experimental results using a composite of Terfenol-D and Lithium Niobate to assure high sensitivity of 50 V/mm and a temperature operating range over 200/spl deg/C.

Combined smooth and saccadic ocular pursuit during the transient occlusion of a moving visual object

Accurate ocular pursuit during a transient occlusion interval would minimize retinal position and velocity error, and could provide an advantage when discriminating object characteristics at reappearance. This study was designed to examine how the smooth and saccadic response extrapolates the trajectory of a moving visual object during a transient occlusion. We confirmed that subjects could not maintain unity gain smooth pursuit during the transient occlusion. Eye velocity decayed significantly without visual feedback but then in the majority of subjects, there was a recovery that brought eye velocity back towards object velocity. However, eye velocity did not increase to a level that eliminated the developing position error. Subjects corrected for the resulting error in eye position by releasing saccades that generally placed the eye ahead of the occluded object's extrapolated position. The majority of saccadic correction occurred between 220 and 600 ms of the occlusion interval, and when combined with the smooth response enabled accurate pursuit of a 10 degrees/s object for up to 1,200 ms of occlusion. The lack of saccadic correction after 600 ms of occlusion combined with the reduced eye velocity resulted in significant undershoot of eye position at the moment of object reappearance when pursuing an 18 degrees/s object. We suggest that extra-retinal information regarding eye velocity and smooth eye displacement could be available from a continually updating efference copy of eye motion in MST, whereas a veridical representation of extrapolated object velocity and displacement could be obtained from persistent activity in FEF.

PRECISION AND RESULTS RELIABILITY ANALYSIS OF DIFFERENT INSTRUMENTS FOR INVESTIGATING VERTICAL MICRO - DISPLACEMENT OF STRUCTURES

This paper presents an analysis of the precision and results reliability of different instruments when researching the vertical displacements of objects in a space. In Slovenia the researching at objects by pressure testing is obligatory for all structures longer than 15 metres (JUS U.M1.046). We chose both geodetic and non-geodetic methods. There are many methods for researching displacements, so we limited it to the instruments available to us. The Faculty of Civil Engineering, University of Maribor, Slovenia, uses the total station, level, and the inductive transducer and laser level. The displacement measurements were made on a reinforced concrete plate, type PVP5. We calculated the foreseen displacements by the analytic as well numeric method for the plate. We used the National regulations (Euro code 2) for analytic calculation and for the numeric part we used the Ocean program. We calculated the standard deviation and the optimal accuracy for each instrument, we also checked the significance of the results by an analysis of the variances with one variable factor and by using the “Baarda's data snooping” method we also did a check for the presence of rough mistakes that can occur in the measurement results.In this paper we describe all the instruments for following the displacements and the working principles of the instruments with which the research was carried out, and the measurement errors.The precision analysis was made on the basis of a comparison between the results of the foreseen displacements and the gained results of the measurements. The results of this research are collated in the conclusion and give us the answers to our goals.

Automatic Generation of MPEG-7 Compliant XML Document for Motion Trajectory Descriptor in Sports Video

The MPEG-7 standard is a step towards standardizing the description of multimedia content so that quick and efficient identification of relevant content can be facilitated, together with efficient management of information. The description definition language (DDL) is a schema language to represent valid MPEG-7 descriptors and description schemes. MPEG-7 instances are XML documents that conform to a particular MPEG-7 schema, as expressed in the DDL and that describe audiovisual content. In this paper, we pick one of the visual descriptors related to motion in a video sequence, viz., motion trajectory. It describes the displacements of objects in time, where an object is defined as a spatiotemporal region or set of spatiotemporal regions. We present a method of automatically extracting trajectories from video sequences and generating an XML document that conforms to the MPEG-7 schema. We use sports videos in particular, because the trajectories are very random and the robustness of our algorithm can be demonstrated.

The Use of Correlation Analysis of the Image in Phase Optoelectronic Devices

The possibility of using phase-correlation analysis of an image in optoelectronic devices to measure small angular and linear displacements of objects is considered. It is shown that the measurement accuracy is thereby increased.

Gas bubble and solid sphere motion in elastic media in response to acoustic radiation force

The general approach to estimate the displacement of rounded objects (specifically, gas bubbles and solid spheres) in elastic incompressible media in response to applied acoustic radiation force is presented. In this study, both static displacement and transient motion are analyzed using the linear approximation. To evaluate the static displacement of the spherical inclusion, equations coupling the applied force, displacement, and shear modulus of the elastic medium are derived. Analytical expressions to estimate the static displacement of solid spheres and gas bubbles are presented. Under a continuously applied static force, both the solid sphere and the initially spherical gas bubble are displaced, and the bubble is deformed. The transient responses of the inclusions are described using motion equations. The displacements of the inclusion in elastic incompressible lossless media are analyzed using both frequency-domain and time-domain formalism, and the equations of motion are derived for both a solid sphere and a gas bubble. For a short pulsed force, an analytical solution for the equations of motion is presented. Finally, transient displacement of the gas bubble in viscoelastic media is considered.

Co-activation of glutamate and dopamine receptors within the nucleus accumbens is required for spatial memory consolidation in mice

The nucleus accumbens receives glutamatergic and dopaminergic inputs converging onto common dendrites. Recent behavioral data demonstrated that intra-accumbens administrations of either glutamate or dopamine (DA) antagonist impair spatial memory consolidation. Thus, also based on the biochemical and molecular findings demonstrating interactions among the different receptors subtypes for glutamate and dopamine, it is conceivable that memory consolidation within this structure might be modulated by glutamate-dopamine receptor interactions. The purpose of this study was to examine the effects of intra-accumbens co-administrations of glutamate and DA antagonists on the consolidation of spatial information. On day 1, CD1 male mice were placed in an open field containing five different objects and immediately after three sessions of habituation the animals were injected intra-accumbens with either vehicle or low doses of the N-methyl-D: -aspartate (NMDA; AP-5 50 ng/side), the alpha-amino-3-hydroxy-5-methyl-4-isoxazole propionic acid (AMPA; DNQX 5 ng/side), the D1 (SCH23390 12.5 ng/side) and the D2 (sulpiride 25 ng/side) antagonists that were ineffective alone in disrupting object displacement. Separate groups were then focally injected with a combination of one of the glutamate antagonists with one of the dopamine antagonists. Twenty-four hours later, the ability of mice to discriminate object displacement was assessed. Controls and mice injected with ineffective doses of the NMDA, the AMPA, the D1 or the D2 antagonists were always able to react to the object displacement. On the contrary, the groups administered with the different combinations (AP-5 and SCH23390, AP-5 and sulpiride, DNQX and SCH23390, DNQX and sulpiride) of glutamate and dopamine antagonists did not discriminate the spatial change. These results demonstrate that glutamate-dopamine receptor interactions within the accumbens are essential for the consolidation process of spatial information.

Long-term retention and overshadowing of proximal and distal cues following habituation in an object exploration task

The object displacement task is a popular tool used to investigate spatial learning and memory. However, little attention has previously been given to long-term retention of spatial information following habituation to this task. Furthermore, the role of both proximal and distal cues in this type of passive retention of spatial information is controversial. In Study 1, we examined habituation in the object displacement task across 4 days and examined reactivity to spatial change 7 days post-acquisition. We found that rats habituated rapidly to the environment and retained this environment for the 7 days. Furthermore, this experiment shows that both proximal and distal spatial cues are important in the encoding of the environment during object displacement learning task. In Study 2, we examined the effect of overshadowing and demonstrate that proximal visual spatial cues can overshadow distal spatial cues if a conflict arises between both set.

初期滑り時の接触面偏心度に基づく弾性体の把持力制御

In this research, the slip margin between an elastic object and a rigid plate is estimated based on the analysis of Hertz contact model. A method of the grip force control using the slip margin is proposed. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called“incipient slip”occurs on the contact surface. The slip margin can be estimated based on tribology from the deformation of the elastic object, the tangential force and the radius on the contact surface. The deformation and the displacement of the elastic object are measured by the camera. In addition, the load force can be measured by the force sensor. In this research, a measuring device consists of a camera and a force sensor is developed.“Eccentricity”is defined to estimate the displacement of the elastic object from the shift of the contact area. The grip force is controlled based on the estimated slip margin without knowing the friction coefficient. The proof of the contact stability is obtained. The validity of the proposed method is confirmed by the experiment.

Research of the measuring technology of MEMS

Due to the small size of the MEMS, the traditional method of contact measurement seriously affects the parameter of the object being measured, and high accuracy measurement cannot be acquired. Therefore, a new kind of method is needed to meet the requirement. Laser interferometry has the advantages of non-contact, high accuracy, full-field and fast speed, so it is used to measure the displacement and vibration of MEMS in the paper. A time average measurement method of digital speckle interferometry is proposed to measure the vibration mode of the MEMS in the paper. Through the speckle average technology, high accuracy phase-shift, continuous phase scanning technology, combined with optical amplify technology, the resolution of the measurement system reaches 1nm, and the accuracy of the amplitude reaches 5nm. Because the principle of the measurement system is full-field, the measuring speed of the measurement system is 512*512 points per one minute. Another measurement system based on laser speckle correlation algorithm is set up. It is used to measure the displacement of small objects. The rapid searching algorithm is proposed in the paper, and it is used to measure the mechanic property of carbon nanocube.