1,721,050 research outputs found
The driver concept for the DLR Lightweight Robot III
No full textIn this paper we present the synchronization and
driver architecture of the DLR LWR-III, which supplies an easy
to use interface for applications. For our purpose we abstracted
the robot hardware entirely from the control algorithms using
the common device driver concept of modern operating systems.
The software architecture is split into two modular parts. On
the one side, there are device drivers that communicate with the
hardware components. On the other side, there are realtime ap-
plications realized as Simulink Models, which provide advanced
control algorithms. This ensures a clean separation between the
two modules and provides a communication over a common
and approved interface. Furthermore we investigated how we
can ensure synchronization to the hardware over the device
driver interfaces and how we can ensure that it meets hard
realtime requirements. The main result of this paper is to realize
a synchronization between LWR-III hardware and Simulink
control applications while targeting small latencies with respect
to hard realtime requirements. The design is implemented and
verified on WindRiverTM VxWorksTM
A comparative study of neural network algorithms applied to optical character recognition
No full text
Surface EMG in advanced hand prosthetics
No full textOne of the major problems when dealing with highly dexterous, active hand prostheses is their control by the patient wearing them. With the advances in mechatronics, building prosthetic hands with multiple active degrees of freedom is realisable, but actively controlling the position and especially the exerted force of each finger cannot yet be done naturally. This paper deals with advanced robotic hand control via surface electromyography. Building upon recent results, we show that machine learning, together with a simple downsampling algorithm, can be effectively used to control on-line, in real time, finger position as well as finger force of a highly dexterous robotic hand. The system determines the type of grasp a human subject is willing to use, and the required amount of force involved, with a high degree of accuracy. This represents a remarkable improvement with respect to the state-of-the-art of feed-forward control of dexterous mechanical hands, and opens up a scenario in which amputees will be able to control hand prostheses in a much finer way than it has so far been possible
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe 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
Get PDF“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
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