Manipulation dextre par des mains mécaniques avec prise en compte de la dynamique

Notre travail présente une stratégie de manipulation fine d'objets avec la prise en compte de la dynamique du système, par une main mécanique. L'objet de cette stratégie est de réaliser des tâches de manipulation dextre; le positionnement et le changement de l'orientation de l'objet manipulé est réalisé par la seule main et à l'intérieur de son espace de travail. Des résultats expérimentaux seront présentés en utilisant une main mécanique anthropomorphe développée à l'Institut Pprime de Poitiers

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

The internet of ontological things: On symmetries between ubiquitous problems and their computational solutions in the age of smart objects

This dissertation is about an abstract form of computer network that has recently earned a new physical incarnation called “the Internet of Things.” It surveys the ontological transformations that have occurred over recent decades to the computational components of this network, objects—initially designed as abstract algorithmic agents in a source code of computer programming but now transplanted into real-world objects. Embodying the ideal of modularity, objects have provided computer programmers with more intuitive means to construct a software application with lots of simple and reusable functional building blocks. Their capability of being reassembled into many different networks for a variety of applications has also embodied another ideal of computing machines, namely general-purposiveness. In the algorithmic cultures of the past century, these objects existed as mere abstractions to help humans to understand electromagnetic signals that had infiltrated every corner of automatized spaces from private to public. As an instrumental means to domesticate these elusive signals into programmable architectures according to the goals imposed by professional programmers and amateur end-users, objects promised a universal language for any computable human activities. This utopian vision for the object-oriented domestication of the digital has had enough traction for the growth of the software industry as it has provided an alibi to hide another process of colonization occurring on the flipside of their interfacing between humans and machines: making programmable the highest number of online and offline human activities possible. A more recent media age, which this dissertation calls the age of the Internet of Things, refers to the second phase of this colonization of human cultures by the algorithmic objects, no longer trapped in the hard-wired circuit boards of personal computer, but now residing in real-life objects with new wireless communicability. Chapters of this dissertation examine each different computer application—a navigation system in a smart car, smart home, open-world video games, and neuro-prosthetics—as each particular case of this object-oriented redefinition of human cultures

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version

Computational Intelligence in Electromyography Analysis

Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles. EMG may be used clinically for the diagnosis of neuromuscular problems and for assessing biomechanical and motor control deficits and other functional disorders. Furthermore, it can be used as a control signal for interfacing with orthotic and/or prosthetic devices or other rehabilitation assists. This book presents an updated overview of signal processing applications and recent developments in EMG from a number of diverse aspects and various applications in clinical and experimental research. It will provide readers with a detailed introduction to EMG signal processing techniques and applications, while presenting several new results and explanation of existing algorithms. This book is organized into 18 chapters, covering the current theoretical and practical approaches of EMG research

The Second Conference on Lunar Bases and Space Activities of the 21st Century, volume 2

These 92 papers comprise a peer-reviewed selection of presentations by authors from NASA, the Lunar and Planetary Institute (LPI), industry, and academia at the Second Conference on Lunar Bases and Space Activities of the 21st Century. These papers go into more technical depth than did those published from the first NASA-sponsored symposium on the topic, held in 1984. Session topics included the following: (1) design and operation of transportation systems to, in orbit around, and on the Moon; (2) lunar base site selection; (3) design, architecture, construction, and operation of lunar bases and human habitats; (4) lunar-based scientific research and experimentation in astronomy, exobiology, and lunar geology; (5) recovery and use of lunar resources; (6) environmental and human factors of and life support technology for human presence on the Moon; and (7) program management of human exploration of the Moon and space

Proceedings of the Seventeenth Annual Conference on Manual Control

Manual control is considered, with concentration on perceptive/cognitive man-machine interaction and interface