4,602 research outputs found
Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
No full textWe present a cloth dataset consisting of 120 high-quality recordings of several textiles during dynamic motions. Using a Motion Capture System, we record the location of key-points on the cloth surface of four types of fabrics (cotton, denim, wool and polyester) of two sizes (A2 and A3) and at different speeds. The scenarios considered are all dynamic and involve rapid shaking and twisting of the textiles, collisions with frictional objects, strong hits with a long rigid object and even self-collisions.
For more information about the dataset, see: Franco Coltraro, Júlia Borràs, Maria Alberich-Carramiñana and Carme Torras. Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning to appear in International Journal of Robotics Research (2025).- F. Coltraro is supported by Momentum CSIC Programme project MMT24-IRII-01 and by RobIRI 2021 SGR 00514.
- J. Borras is supported by the project PID2020-118649RB-I00(CHLOE-GRAPH) funded by MCIN/ AEI /10.13039/501100011033.Peer reviewe
Manipulació robòtica de tela: percepció i ajust de model
No full textL'estudi mecànic de la tela està molt menys avançat que el dels sòlids rígids, o el dels cossos elàstics, debut a la combinació de rigidesa en unes direccions i flexibilitat total en altres que presenta el material. El model inextensible de la tela de Coltraro, Amorós, Alberich-Carramiñana estudiat en aquest projecte prediu la posició de la tela en un moviment real. Aquest projecte ha consistit a fer un enregistrament de moviments reals de tela en l'espai tridimensional amb la tecnologia Optitrack creada pel fabricant NaturalPoint Inc., simular-los amb el model de tela inextensible de Coltraro, Amorós, Alberich-Carramiñana i comparar el moviment real amb la simulació. El model introdueix nous paràmetres per a entendre el comportament de la tela, i mitjançant procediments d'optimització, s'han determinat els valors d'aquests paràmetres per cada moviment real enregistrat. Un cop determinat el valor dels paràmetres, s'ha fet una anàlisi de la dependència entre els paràmetres del model i les propietats que es considera que poden afectar el seu resultat. També s'han ajustat fórmules lineals que poden pronosticar el valor dels paràmetres a partir de la naturalesa de la tela, amb l'objectiu poder predir el moviment de peces de tela concretes amb un marge d'error d'1 cm a partir d'una proposta de manipulació robòticaObjectius de Desenvolupament Sostenible::9 - Indústria, Innovació i Infraestructura::9.b - Donar suport al desenvolupament de tecnologies, investigació i innovació nacionals als països en desenvolupament, garantint també un entorn normatiu propici a la diversificació industrial i l’addició de valor als productes bàsics, entre d’altre
Franco (Albert M.) interview, 2000
No full textRhodes, GreeceAlbert was born November 10, 1914 to immigrant parents Rosa Boullissa and Marco Franco of the Island of Rhodes. He attended Leschi Elementary, Garfield High School and graduated from the University of Washington and University of Washington Law School Class of 1939. He served in the US Army Intelligence Corps. Returning to Seattle, he became a founding partner of the law firm Franco, Asia, Bensussen and Coe, and practiced immigration and business law, also serving as the representative of the Mexican Embassy in the Northwest. Albert was an early civil rights advocate, and helped author King County's Civil Rights Ordinance. He also served on the King County Human Rights Commission. A strong philanthropic supporter of the Jewish Community and United Way, Albert was past president of the Jewish Federation of Greater Seattle and was active in the Anti-Defamation League, the American Civil Liberties Union and the American Jewish Committee. In this interview Mr. Franco discusses the lawsuit of Eugene Levy vs. Jewish Family and Child Service (JFCS) of 1948. This accession is part of the Washington State Jewish Archives.To request a high resolution or uncompressed reproduction, or to obtain permission to use any portion of this item, contact the University of Washington Libraries, Special Collections. Email: [email protected]. Please reference the Digital ID Number
Manipulació robòtica de tela: percepció i ajust de model
No full textL'estudi mecànic de la tela està molt menys avançat que el dels sòlids rígids, o el dels cossos elàstics, debut a la combinació de rigidesa en unes direccions i flexibilitat total en altres que presenta el material. El model inextensible de la tela de Coltraro, Amorós, Alberich-Carramiñana estudiat en aquest projecte prediu la posició de la tela en un moviment real. Aquest projecte ha consistit a fer un enregistrament de moviments reals de tela en l'espai tridimensional amb la tecnologia Optitrack creada pel fabricant NaturalPoint Inc., simular-los amb el model de tela inextensible de Coltraro, Amorós, Alberich-Carramiñana i comparar el moviment real amb la simulació. El model introdueix nous paràmetres per a entendre el comportament de la tela, i mitjançant procediments d'optimització, s'han determinat els valors d'aquests paràmetres per cada moviment real enregistrat. Un cop determinat el valor dels paràmetres, s'ha fet una anàlisi de la dependència entre els paràmetres del model i les propietats que es considera que poden afectar el seu resultat. També s'han ajustat fórmules lineals que poden pronosticar el valor dels paràmetres a partir de la naturalesa de la tela, amb l'objectiu poder predir el moviment de peces de tela concretes amb un marge d'error d'1 cm a partir d'una proposta de manipulació robòticaObjectius de Desenvolupament Sostenible::9 - Indústria, Innovació i Infraestructura::9.b - Donar suport al desenvolupament de tecnologies, investigació i innovació nacionals als països en desenvolupament, garantint també un entorn normatiu propici a la diversificació industrial i l’addició de valor als productes bàsics, entre d’altre
A practical aerodynamic model for dynamic textile manipulation in robotics
No full textWe study an aerodynamic model describing the interaction between cloth and air, with applications to dynamic textile manipulation by robots. After introducing the model, we investigate its theoretical implications by using an analytically solvable system: the damped pendulum. We deduce that aerodynamic forces in the model manifest themselves as a lifting force, more pronounced when the cloth transitions from rest to dynamic motion. The resulting aerodynamic model is simple, with no additional computational cost. The model is validated by comparing cloth simulations to real-world data as captured by a Motion Capture System: the results demonstrate errors of less than 1 cm even for size A2 textiles. Furthermore, we develop an a priori formula for estimating the parameters of the model for various textiles without further optimization. This formula allows us to present a challenging robotics application: a dynamic flattening motion is designed in simulation and then successfully executed by a robot without any fine-tuning or modification. The outcome, a smooth and rapid laying of the real textiles, demonstrates the minimal sim-to-real gap of our model even when aerodynamics plays a leading role.This research work was funded by the European Commission – NextGenerationEU, through Momentum CSIC Programme: Develop Your Digital Talent. Franco Coltraro is staff hired under the Generation D initiative, promoted by Red.es, an organization attached to the Ministry for Digital Transformation and the Civil Service, for the attraction and retention of talent through grants and training contracts, financed by the Recovery, Transformation and Resilience Plan through the European Union’s Next Generation funds. F. Coltraro was also partially supported by the ClothIRI (CSIC 202350E080) project and the RobIRI 2021-SGR-00514 AGAUR project. Jaume Amorós and Maria Alberich–Carramiñana have been partially supported by the projects PID2019-103849GB-I00 and PID2023-146936NB-I00 financed by the Spanish State Agency MICIU/AEI/10.13039/501100011033 and by ERDF/EU, and by the GEOMVAP 2021-SGR-00603 AGAUR project.Peer ReviewedPostprint (published version
Adoption and diffusion of no tillage practices in Southern Spain olive groves
No full textThis paper analyses the process of adoption of no tillage in South-eastern Spain’s olive groves. Olive tree groves in South-eastern Spain’s mountainous areas are subject to a high risk of soil erosion, which is the main environmental problem for this crop, and have to incur in high costs of soil conservation. This results in a greater difficulty to comply with the practices required to benefit from both the single payment and agri-environmental schemes. In many high-steeped areas, farmers have opted for non-tillage practices as an alternative to other conservation practices. Using our own data from a survey carried out in 2006 among 215 olive tree farmers from the Granada Province in Southern Spain regarding the adoption of soil conservation and management practices, we model the diffusion process of no tillage practices using several specifications (logistic, Gompertz and exponential). We also estimate an ordered probit model to analyse which socio-economic and institutional factors determine the adoption of no tillage. Our results show that 90% of farmers in the area of study perform no tillage with either localized (21%) or no localized (69%) application of weedicides. The diffusion process of no tillage has been very intense since the middle nineties, and has been based on the interactions among farmers in the area of study rather than in external factors such as EU policies or extension services. Among other relevant factors that positively affect the adoption of no tillage practices in general, such as farm size and irrigation, the probability of a farmer adopting no tillage with non-localized application of weedicides increases when there is a relative that will continue with the farming activity, what causes the farmer to incorporate long term effects in his farming decisions, when the farmer is only a manager or when he bought the farm rather than inherited it (i.e. on more professionalized farms), and with his educational level. These results confirm some findings from previous studies in other nearby areas.Spanish olive groves, soil erosion, no tillage, Crop Production/Industries, Land Economics/Use,
Franco (Albert M.) interview, 1978
No full textRhodes, GreeceAlbert was born November 10, 1914 to immigrant parents Rosa Boullissa and Marco Franco of the Island of Rhodes. He attended Leschi Elementary, Garfield High School and graduated from the University of Washington and University of Washington Law School Class of 1939. He served in the US Army Intelligence Corps. Returning to Seattle, he became a founding partner of the law firm Franco, Asia, Bensussen and Coe, and practiced immigration and business law, also serving as the representative of the Mexican Embassy in the Northwest. Albert was an early civil rights advocate, and helped author King County's Civil Rights Ordinance. He also served on the King County Human Rights Commission. A strong philanthropic supporter of the Jewish Community and United Way, Albert was past president of the Jewish Federation of Greater Seattle and was active in the Anti-Defamation League, the American Civil Liberties Union and the American Jewish Committee.
Albert Franco tells of his family's life on the Isle of Rhodes; why they left; how they came to Seattle. He tells of his father, Marco Franco's, achievements in business and of his father's extensive participation in community affairs, in the Sephardic community and in the community in general. He tells of his own education, his career as a lawyer, his war service in the Army Intelligence, and of his work in the community. He experienced discrimination by his fellow Jews when no Sephardic student could join a Jewish fraternity or sorority. This interview gives illuminating insights concerning the history of an early day Sephardic family and how a child who grew up in that era reacted as shown in his community work as as adult. His account of his father, Marco Franco, as a liaison between the various segments in the community is interesting.
This accession is part of the Washington State Jewish Archives.To request a high resolution or uncompressed reproduction, or to obtain permission to use any portion of this item, contact the University of Washington Libraries, Special Collections. Email: [email protected]. Please reference the Digital ID Number
A logistic queue model for network traffic modeling and simulation
No full textIn this work we present a continuous queuing model called the logistic queue model. We show that in terms of queue size and outflow prediction, our model is as precise as a discrete event simulator with the additional advantage of speed in simulations. We prove mathematically that our proposed model has all the theoretical properties one should expect, e.g. positivity of queue, FIFO property. Finally, in contrast with other continuous models Vickrey s point-queue model our model can be easily integrated numerically and moreover it allow us to naturally explore multiple extensions relevant to telecommunication networks such as: finite queues, multiple servers, priority queues, etc
The political instrumentalization of professional football in Francoist Spain 1939-1975
No full textPhDThe objective of this thesis is to be the first systematic study of the
political instrumentalization of football in Francoist Spain from 1939
to 1975.
Seven separate and contrasting aspects of this political
instrumentalization may be isolated, and, accordingly, this thesis will
consist of a chapter examining each one of these seven aspects in turn.
After a first introductory chapter, Chapter Two will examine the
application of Fascist concepts to Spanish football. In the third
chapter, the questions of whether and to what extent football was used
by the Franco regime as a political soporific will be discussed. The
theme of Chapter Four is the lack of democracy within the structures of
the game, a situation that is alleged to have been deliberately imposed
by the regime in order to not create an uncomfortable comparison for
itself with the lack of national and local political democracy. The
poor working conditions of the footballers, which mirrored those of the
great majority of Spanish workers during the Franco period, are the
subject of Chapter Five. In the sixth Chapter, the political
significance of the presence in Francoist Spain of a group of refugee
players and coaches from Europe will be examined. The diplomatic
and ambassadorial significance of football, in particular of the
spectacular international triumphs of the Real Madrid club, will be
discussed in Chapter Seven. The political significance of football as a
focus for Basque and Catalan nationalist sentiment, in opposition to the
centralist Madrid regime, is the subject of Chapter Eight
Uno zaino di ricordi invisibili. Vita e opere di Carl Sandburg
No full textLife and works of Carl Sandburg (1878-1967), American poet, author of "Chicago Poems" (1916)
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