On standards and values: Between finite actuality and infinite possibility

This article explores the relation between subjects and standards in a way that is informed by a process orientation to theoretical psychology. Standards are presented as objectifications of values designed to generalize and stabilize experiences of value. Standards are nevertheless prone to becoming “parodic” in the sense that they can become obstacles to the actualization of the values they were designed to incarnate. Furthermore, much critical social science has mishandled the nature of standards by insisting that values are nothing but local and specific constructions in the mundane world of human activity. To rectify this problem, this article reactivates a sense of the difference between the idea of a finite world of activity and a world of value which points beyond and exceeds passing circumstance. Resources for the reactivation of this difference— which is core to a processual grasp of self, memory, and value—are found in the thinking of A. N. Whitehead, Max Weber, Marcel Proust, and Soren Kierkegaard

Development of tests for measurement of primary perceptual-motor performance

Tests for measuring primary perceptual-motor performance for assessing space environment effects on human performanc

Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion

In recent years, we witnessed an ever increasing number of successful hardware implementations of motion planners for legged robots. If one common property is to be identified among these real-world applications, that is the ability of online planning. Online planning is forgiving, in the sense that it allows to relentlessly compensate for external disturbances of whatever form they might be, ranging from unmodeled dynamics to external pushes or unexpected obstacles and, at the same time, follow user commands. Initially replanning was restricted only to heuristic-based planners that exploit the low computational effort of simplified dynamic models. Such models deliberately only capture the main dynamics of the system, thus leaving to the controllers the issue of anchoring the desired trajectory to the whole body model of the robot. In recent years, however, we have seen a number of new approaches attempting to increase the accuracy of the dynamic formulation without trading-off the computational efficiency of simplified models. In this dissertation, as an example of successful hardware implementation of heuristics and simplified model-based locomotion, I describe the framework that I developed for the generation of an omni-directional bounding gait for the HyQ quadruped robot. By analyzing the stable limit cycles for the sagittal dynamics and the Center of Pressure (CoP) for the lateral stabilization, the described locomotion framework is able to achieve a stable bounding while adapting to terrains of mild roughness and to sudden changes of the user desired linear and angular velocities. The next topic reported and second contribution of this dissertation is my effort to formulate more descriptive simplified dynamic models, without trading off their computational efficiency, in order to extend the navigation capabilities of legged robots to complex geometry environments. With this in mind, I investigated the possibility of incorporating feasibility constraints in these template models and, in particular, I focused on the joint torques limits which are usually neglected at the planning stage. In this direction, the third contribution discussed in this thesis is the formulation of the so called actuation wrench polytope (AWP), defined as the set of feasible wrenches that an articulated robot can perform given its actuation limits. Interesected with the contact wrench cone (CWC), this yields a new 6D polytope that we name feasible wrench polytope (FWP), defined as the set of all wrenches that a legged robot can realize given its actuation capabilities and the friction constraints. Results are reported where, thanks to efficient computational geometry algorithms and to appropriate approximations, the FWP is employed for a one-step receding horizon optimization of center of mass trajectory and phase durations given a predefined step sequence on rough terrains. For the sake of reachable workspace augmentation, I then decided to trade off the generality of the FWP formulation for a suboptimal scenario in which a quasi-static motion is assumed. This led to the definition of the, so called, local/instantaneous actuation region and of the global actuation/feasible region. They both can be seen as different variants of 2D linear subspaces orthogonal to gravity where the robot is guaranteed to place its own center of mass while being able to carry its own body weight given its actuation capabilities. These areas can be intersected with the well known frictional support region, resulting in a 2D linear feasible region, thus providing an intuitive tool that enables the concurrent online optimization of actuation consistent CoM trajectories and target foothold locations on rough terrains

Molecular Crowding: The History and Development of a Scientific Paradigm

It is now generally accepted that macromolecules do not act in isolation but "live" in a crowded environment, that is, an environment populated by numerous different molecules. The field of molecular crowding has its origins in the far 80s but became accepted only by the end of the 90s. In the present issue, we discuss various aspects that are influenced by crowding and need to consider its effects. This Review is meant as an introduction to the theme and an analysis of the evolution of the crowding concept through time from colloidal and polymer physics to a more biological perspective. We introduce themes that will be more thoroughly treated in other Reviews of the present issue. In our intentions, each Review may stand by itself, but the complete collection has the aspiration to provide different but complementary perspectives to propose a more holistic view of molecular crowding

Flesh and Blood

In my work, I look for ways to visualize and document the degenerative mental disease of Parkinson’s and transform it into portrayals of the disease itself, its effects, and those it afflicts. Being a physical breakdown of the body, both popular culture and my own corporal understanding influence my interpretation and representation. This document outlines those influences and their buildup towards a shared understanding of the interests behind the work, as well as implies what the work does through these contexts. How do we give identity to a disease that is difficult to diagnose or view on medical technology, currently cannot be cured or put in remission, and slowly changes the identity of the patient? We give identity to one track beings like viruses, saying we’re fighting a cold, as well as to diseases that are not a foreign body, but a part of the self, like cancer. While initially regarded as an other by the patient, many eventually come to terms with the fact that it is exactly the opposite: that a disease like cancer is a part of the self. Yet viruses and cancer are known entities, and while cancer is a disease of the self, it is one that has the possibility to be put in remission with proper treatment. In depicting the uncontrollable symptoms (tremors, stiffness, depression, mania, etc.) and through attempting its visualization in the abstract, these imprinted marks, combined with a societal understanding of disease and the body, shows the various ways in which I view this chronological breakdown of the mind and body

Generating whole body movements for dynamics anthropomorphic systems under constraints

Cette thèse étudie la question de la génération de mouvements corps-complet pour des systèmes anthropomorphes. Elle considère le problème de la modélisation et de la commande en abordant la question difficile de la génération de mouvements ressemblant à ceux de l'homme. En premier lieu, un modèle dynamique du robot humanoïde HRP-2 est élaboré à partir de l'algorithme récursif de Newton-Euler pour les vecteurs spatiaux. Un nouveau schéma de commande dynamique est ensuite développé, en utilisant une cascade de programmes quadratiques (QP) optimisant des fonctions coûts et calculant les couples de commande en satisfaisant des contraintes d'égalité et d'inégalité. La cascade de problèmes quadratiques est définie par une pile de tâches associée à un ordre de priorité. Nous proposons ensuite une formulation unifiée des contraintes de contacts planaires et nous montrons que la méthode proposée permet de prendre en compte plusieurs contacts non coplanaires et généralise la contrainte usuelle du ZMP dans le cas où seulement les pieds sont en contact avec le sol. Nous relions ensuite les algorithmes de génération de mouvement issus de la robotique aux outils de capture du mouvement humain en développant une méthode originale de génération de mouvement visant à imiter le mouvement humain. Cette méthode est basée sur le recalage des données capturées et l'édition du mouvement en utilisant le solveur hiérarchique précédemment introduit et la définition de tâches et de contraintes dynamiques. Cette méthode originale permet d'ajuster un mouvement humain capturé pour le reproduire fidèlement sur un humanoïde en respectant sa propre dynamique. Enfin, dans le but de simuler des mouvements qui ressemblent à ceux de l'homme, nous développons un modèle anthropomorphe ayant un nombre de degrés de liberté supérieur à celui du robot humanoïde HRP2. Le solveur générique est utilisé pour simuler le mouvement sur ce nouveau modèle. Une série de tâches est définie pour décrire un scénario joué par un humain. Nous montrons, par une simple analyse qualitative du mouvement, que la prise en compte du modèle dynamique permet d'accroitre naturellement le réalisme du mouvement.This thesis studies the question of whole body motion generation for anthropomorphic systems. Within this work, the problem of modeling and control is considered by addressing the difficult issue of generating human-like motion. First, a dynamic model of the humanoid robot HRP-2 is elaborated based on the recursive Newton-Euler algorithm for spatial vectors. A new dynamic control scheme is then developed adopting a cascade of quadratic programs (QP) optimizing the cost functions and computing the torque control while satisfying equality and inequality constraints. The cascade of the quadratic programs is defined by a stack of tasks associated to a priority order. Next, we propose a unified formulation of the planar contact constraints, and we demonstrate that the proposed method allows taking into account multiple non coplanar contacts and generalizes the common ZMP constraint when only the feet are in contact with the ground. Then, we link the algorithms of motion generation resulting from robotics to the human motion capture tools by developing an original method of motion generation aiming at the imitation of the human motion. This method is based on the reshaping of the captured data and the motion editing by using the hierarchical solver previously introduced and the definition of dynamic tasks and constraints. This original method allows adjusting a captured human motion in order to reliably reproduce it on a humanoid while respecting its own dynamics. Finally, in order to simulate movements resembling to those of humans, we develop an anthropomorphic model with higher number of degrees of freedom than the one of HRP-2. The generic solver is used to simulate motion on this new model. A sequence of tasks is defined to describe a scenario played by a human. By a simple qualitative analysis of motion, we demonstrate that taking into account the dynamics provides a natural way to generate human-like movements