1,720,957 research outputs found
Identification of flexible transmission systems for robotic co-manipulation
No full textDans la comanipulation robotique, où l'opérateur travaille en collaboration directe avec le robot. La synthèse du régulateur doit prendre en compte le mode de couplage Homme-Robot, et cela nécessite l'utilisation de méthodes avancées de synthèse de commande basées sur des modèles précis de la dynamique des robots collaboratifs. Dans ce contexte, l'objectif de ce travail de recherche est de développer une approche expérimentale d'identification pour la commande des robots du CEA-LIST en utilisant les capteurs de position moteur, position articulaire et d'effort. Comme les non-linéarités peuvent être importantes dans ces systèmes robotiques et affecter certaines propriétés comme la passivité, il est essentiel d'analyser et de quantifier les non-linéarités issues des transmissions mécaniques utilisées dans l’actionnement des robots collaboratifs, en utilisant une identification non-paramétrique principalement dans le domaine fréquentiel. Pour ce faire, il est important de bien exciter le système tout en respectant ses contraintes, notamment en évitant les saturations qui limitent l'amplitude du signal d'excitation. L'excitation des robots est généralement injectée sous forme de perturbation au niveau de la commande, mais dans ce cas particulier, l'excitation est la consigne de la position moteur. Il est donc crucial de concevoir une excitation appropriée qui tienne compte des saturations de commande et permette d'avoir des mesures riches en informations pour améliorer l'identification.In robotic comanipulation, where the operator works in direct collaboration with the robot. The controller synthesis must take into account the human-robot coupling mode, and this requires the use of advanced control synthesis methods based on accurate models of the dynamics of collaborative robots. In this context, the objective of this research work is to develop an experimental identification approach for the control of CEA-LIST robots using motor position, joint position and force sensors. As non-linearities can be important in these robotic systems and affect certain properties such as passivity, it is essential to analyze and quantify the non-linearities arising from the mechanical transmissions used in the actuation of collaborative robots, using a non-parametric identification mainly in the frequency domain. To do this, it is important to excite the system while respecting its constraints, in particular by avoiding saturations that limit the amplitude of the excitation signal. The excitation of robots is usually injected as a disturbance at the control level, but in this particular case, the excitation is the motor position reference. Therefore, it is crucial to design an appropriate excitation that accounts for control saturations and allows for information-rich measurements to improve identification
Identification de systèmes de transmissions flexibles pour la co-manipulation robotique
No full textIn robotic comanipulation, where the operator works in direct collaboration with the robot. The controller synthesis must take into account the human-robot coupling mode, and this requires the use of advanced control synthesis methods based on accurate models of the dynamics of collaborative robots. In this context, the objective of this research work is to develop an experimental identification approach for the control of CEA-LIST robots using motor position, joint position and force sensors. As non-linearities can be important in these robotic systems and affect certain properties such as passivity, it is essential to analyze and quantify the non-linearities arising from the mechanical transmissions used in the actuation of collaborative robots, using a non-parametric identification mainly in the frequency domain. To do this, it is important to excite the system while respecting its constraints, in particular by avoiding saturations that limit the amplitude of the excitation signal. The excitation of robots is usually injected as a disturbance at the control level, but in this particular case, the excitation is the motor position reference. Therefore, it is crucial to design an appropriate excitation that accounts for control saturations and allows for information-rich measurements to improve identification.Dans la comanipulation robotique, où l'opérateur travaille en collaboration directe avec le robot. La synthèse du régulateur doit prendre en compte le mode de couplage Homme-Robot, et cela nécessite l'utilisation de méthodes avancées de synthèse de commande basées sur des modèles précis de la dynamique des robots collaboratifs. Dans ce contexte, l'objectif de ce travail de recherche est de développer une approche expérimentale d'identification pour la commande des robots du CEA-LIST en utilisant les capteurs de position moteur, position articulaire et d'effort. Comme les non-linéarités peuvent être importantes dans ces systèmes robotiques et affecter certaines propriétés comme la passivité, il est essentiel d'analyser et de quantifier les non-linéarités issues des transmissions mécaniques utilisées dans l’actionnement des robots collaboratifs, en utilisant une identification non-paramétrique principalement dans le domaine fréquentiel. Pour ce faire, il est important de bien exciter le système tout en respectant ses contraintes, notamment en évitant les saturations qui limitent l'amplitude du signal d'excitation. L'excitation des robots est généralement injectée sous forme de perturbation au niveau de la commande, mais dans ce cas particulier, l'excitation est la consigne de la position moteur. Il est donc crucial de concevoir une excitation appropriée qui tienne compte des saturations de commande et permette d'avoir des mesures riches en informations pour améliorer l'identification
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Dispelling the Myths Behind First-author Citation Counts
Full text linkWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
koamabayili/VECTRON-author-checklist: VECTRON author checklist
No full textWe have done our best to complete the author checklist relating to the use of animals in the hut study. Note that the objective for the hut study was to evaluate the IRS treatment applications for residual efficacy against Anopheles mosquitoes, including the local An. coluzzii mosquito population. Cows were only used to attract mosquitoes into the huts and no tests were carried out directly on the cows. The author checklist is intended for use with studies where experiments are carried out on animals, which is why we have had such difficulty in completing this for the hut study, as many of the questions do not relate to how the cows were used
Author-wise bibliometric analysis based on entropy.
No full textAuthor-wise bibliometric analysis based on entropy.</p
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