Kinematic analysis of a novel 2-d.o.f. orientation device

This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientation device located at the end of a robotic arm designed for bone milling processes. A generic kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material

Analyse et conception d'un palonnier à six degrés de liberté

L’apprentissage manuel d’un mouvement à un robot est déjà chose faite de nos jours. Cependant, les équipements utilisés afin de détecter le mouvement souhaité sont actuellement des capteurs de force. Ceux-ci sont réputés pour être compacts et robustes, mais demandent d’appliquer une certaine force sur le robot avant qu’il se déplace ce qui donne l’impression qu’il y a un délai de réponse. L’objectif principal du projet de recherche consiste à développer un capteur de déplacement sous la forme d’un mini manipulateur parallèle passif pouvant être monté au poignet d’un robot sériel afin de le contrôler par déplacement. Le capteur servira d’interface dynamique pour la manipulation du robot par un humain. Le but est de rendre le contrôle le plus intuitif possible pour l’utilisateur. Le concept est de forme circulaire et est conçu pour être monté autour du poignet du robot de sorte que l’utilisateur a l’impression de déplacer directement le robot. Le résultat de ce projet permettra de faciliter le contrôle manuel d’un robot sériel et de le rendre plus intuitif. Ceci pourra être mis en application pour l’apprentissage de trajectoires à un robot ou encore pour faciliter le déplacement, non répétitif, de charges lourdes.Teaching a prescribed trajectory to a robot manually is possible using current technology. However, to accomplish this, the robot needs to have load sensors. This type of sensor is robust and compact but creates a lag time caused by the time to apply the load on the sensor and the processing time. The main goal of this research project is to develop a displacement sensor. This sensor consists of a miniature passive parallel robot and is designed to be mounted on the wrist of a serial robot. The user will be able to move the parallel robot to control the serial one. The sensor will be used as a dynamic interface when manipulated by the user. Since the effector is circular and mounted around the wrist of the robot, the user will have the impression to directly control the robot. The goal of using this type of sensor is to give the user a more intuitive feeling and a minimum lag time. The prototype can be used to teach a prescribed trajectory to a robot or to move a heavy loads along non-repetitive paths

Sacred Scripture / Sacred Space: The Interlacing of Real Places and Conceptual Spaces in Medieval Art and Architecture

Thirteen papers on different subjects, focussing on writings and inscriptions in medieval art, explore the faculty of writing to create and determine spaces and to generate the sacred by the display of holy scripture. The subjects range from book illumination over wall painting, mosaics, sculpture, and church interiors to inscriptions on portals and façades

Sunlight, Atmosphere and Architecture

"This work discusses the complex dependencies between the relationship of sunlight and the architecture of the interior and the atmosphere of the interior. The Introduction features an outline of the content of the work as the dependence between sunlight and architecture of the interior and the atmosphere of architecture. Examples of interiors in which an intended atmosphere was generated via a specific relationship between sunlight and architecture were listed. It was noted that the relationship between sunlight and architecture is an essential component/building block of the atmosphere of architecture, that is appreciated by architects and can be designed within an interior. The author also noted the reflection on the atmosphere of architecture present in architectural criticism and the theory of architecture. Chapter I includes a detailed outline of the object of the study, its scope and perspective: sunlight in the interior in a relationship with architecture in the aspect of the atmosphere of architecture. No temporal or territorial scope was outlined for Chapters I–IV, while for the case studies presented in Chapters V and VI—the analysis was limited to European and Japanese interiors from the period between 1965 and 2015 that the author could study via direct experience. Key terms were explained: light, sunlight, interior, the atmosphere of architecture, as well as the method of the study, its objective and its novel elements. The chapter also discusses the state of research, comprised of the literature quoted and used in the work."(...)This monograph was published as a part of the project ‘KA 2.0 – the development programme of Andrzej Frycz Modrzewski Krakow University’ realized as a part of Operational Programme Knowledge Education Development 2014-2020, Axis III Higher Education for economy and development; Measure 3.5. Comprehensive university programmes. The project is co-financed by the European Union within the European Social Fund

Sacred Scripture / Sacred Space

Thirteen papers on different subjects, focussing on writings and inscriptions in medieval art, explore the faculty of writing to create and determine spaces and to generate the sacred by the display of holy scripture. The subjects range from book illumination over wall painting, mosaics, sculpture, and church interiors to inscriptions on portals and façades

Empowering vulnerable women by participatory design workshops

This contribution addresses the issue of homeless women’s empowerment through design workshops and according to the capability approach. The paper presents small, ordinary stories of women that experience being designers. Besides the professional label, being a designer means to approach reality from the transformative perspective of pursuing a positive change. It also translates in claiming the space for the expression of a personal vision of the world, within a cooperative environment. It enables to experiment innovative strategies to solve problems and to pursue self-determination in practical activities

Spaces of Appearance: Writings on Contemporary Theatre and Performance

This thesis, a collection of previously published materials, reflects a plural and evolving engagement with theatre and performance over the past fifteen years or so: as researcher, writer, editor, teacher, practitioner, spectator. These have rarely been discreet categories for me, but rather different modalities of exploration and enquiry, interrelated spaces encouraging dynamic connectivities, flows and further questions. Section 1 offers critical accounts of the practices of four contemporary theatre directors: Jerzy Grotowski, Robert Wilson, Peter Brook and Ariane Mnouchkine. Section 2 draws on elements of contemporary philosophy and critical thinking to explore the mutable parameters of performance. lt proposes performative mappings of certain unpredictable, energetic events 'in proximity of performance', to borrow Matthew Goulish's phrase: contact, fire, animals, alterity, place. Section 3 contains examples of documentation of performance practices, including a thick description of a mise en scene of a major international theatre production, reflections on process, training and dramaturgy, a performance text with a framing dramaturgical statement, and personal perspectives on particular collaborations. The external Appendix comprises a recently published collection of edited and translated materials concerning five core collaborative projects realised by Ariane Mnouchkine and the Theatre du Soleil at their base in the Cartoucherie de Vincennes, Paris. The core concerns of this thesis include attempts to think through: • the working regimes, poetics and pedagogies of certain directors, usually in collaborative devising contexts within which the creative agency of performers is privileged; • the processes and micro-politics of collaboration, devising, and dramaturgical composition; the dramaturgical implications of trainings, narrative structures, spaces, mise en scene, and of images as multi-layered, dynamic 'fields'; • the predicament and agency of spectators in diverse performance contexts, and the ways in which spectatorial roles are posited or constructed by dramaturgies; • the imbrication of embodiment, movement and perception in performance, and the plurality of modes of perception; • the critical and political functions of theatre and theatre criticism as cultural/social practice and 'art of memory' (de Certeau), of dramaturgies as critical historiographies, and of theatre cultures (and identities) as plural, dynamic, and contested; • performance as concentrated space for inter-subjectivity and the flaring into appearance of the 'face-to-face' (Levinas); the possibility of ethical, 'response-able' encounter and exchange with another; identity as relational and in-process, alterity as productive event, the inter-personal as political; • the poetics and politics of what seems an unthinkable surplus (and constitutive 'outside') to the cognitive reach of many conventional frames and maps in theatre criticism and historiography; an exploration of acts of writing as performative propositions and provocations ('critical fictions') to think the event of meanings at/of the limits of knowledge and subjectivity. This partial listing of recurrent and evolving concerns within the thesis traces a trajectory in my evolution as a writer and thinker, a gradual displacement from the relatively 'solid ground' of theatre studies and theatre history towards more fluid and tentative articulations of the shifting 'lie of the land' in contemporary performance and philosophy. This trajectory reflects a growing fascination with present process, conditions, practices, perceptions 'in the middle', and ways of writing (about) performance as interactive and ephemeral event

The Agency of Art Objects in Northern Europe, 1380–1520

This monograph book offers a new interpretation of northern European art of the fifteenth century. The author presents it as a conglomerate of objects-things which act on the recipient in a specific – material and spatial – way. He analyzes macro-scale objects that impose movement on the viewer, and micro-scale objects that encourage manipulation. Inspired by the anti-anthropocentric concept of “returning to things” (B. Latour, A. Gell and others), the author searches for the “agency of things” in late-medieval art objects, which evoke specific liturgical, devotional, propaganda-political behaviors, or establish the status of social owner of the object that once co-created the network of material and spiritual culture. This methodologically innovative approach is part of the latest research in early art in Western Europe and the United States