10 research outputs found

    Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots

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    International audienceIn many walking, running, flying, and swimming animals, including mammals, reptiles, and birds, the vestibular system plays a central role for verticality estimation and is often associated with a head sta-bilisation (in rotation) behaviour. Head stabilisation, in turn, subserves gaze stabilisation, postural control, visual-vestibular information fusion and spatial awareness via the active establishment of a quasi-inertial frame of reference. Head stabilisation helps animals to cope with the computational consequences of angular movements that complicate the reliable estimation of the vertical direction. We suggest that this strategy could also benefit free-moving robotic systems, such as locomoting humanoid robots, which are typically equipped with inertial measurements units. Free-moving robotic systems could gain the full benefits of inertial measurements if the measurement units are placed on independently orientable platforms, such as a human-like heads. We illustrate these benefits by analysing recent humanoid robots design and control approaches

    Idiothetic Verticality Estimation Through Head Stabilization Strategy

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    International audienceThe knowledge of the gravitational vertical is fundamental for the autonomous control of humanoids and other free-moving robotic systems such as rovers and drones. This article deals with the hypothesis that the so-called 'head stabilization strategy' observed in humans and animals facilitates the estimation of the true vertical from inertial sensing only. This problem is difficult because inertial measurements respond to a combination of gravity and fictitious forces that are hard to disentangle. From simulations and experiments, we found that the angular stabilization of a platform bearing inertial sensors enables the application of the separation principle. This principle, which permits one to design estimators and controllers independently from each other, typically applies to linear systems, but rarely to nonlinear systems. We found empirically that, given inertial measurements, the angular regulation of a platform results in a system that is stable and robust and which provides true vertical estimates as a byproduct of the feedback. We conclude that angularly stabilized inertial measurement platforms could liberate robots from ground-based measurements for postural control, locomotion, and other functions, leading to a true idiothetic sensing modality, that is, not based on any external reference but the gravity field

    Etude du contrôle postural chez l'homme (analyse des facteurs neurophysiologiques, biomécaniques et cognitifs, impliqués dans les 500 premières millisecondes d'une chute)

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    La chute chez les seniors constitue un problème de santé publique. Citée comme la seconde cause de décès accidentel dans le monde, elle concerne un tiers des Français de plus de 65 ans. Les séquelles physiques et fonctionnelles qui en résultent, les conséquences psychosociales nuisibles pour la qualité de la vie, la perte d autonomie et son coût de prise en charge justifient l attention qui lui est actuellement portée. Du point de vue du chercheur, les interprétations sous-jacentes à la surexposition des personnes âgées au risque de chute restent controversées, notamment parce que la compréhension de la coordination dynamique corporelle et de l implication corticale lors du contrôle de l équilibre est encore limitée. L étude de la chute et des mécanismes qui y conduisent présente donc un double intérêt, fondamental et sociétal. Une chute survient si deux conditions sont réunies. La première est la perte initiale de l équilibre, un pré-requis qui peut toucher la population entière dans son quotidien. La seconde est un échec des mécanismes de rééquilibration, c est à dire de la stratégie de réponse mise en œuvre pour compenser la déstabilisation : comment s opère la sélection d une stratégie de rattrapage, à partir de quelle appréciation du contexte et des informations sensorielles disponibles est-elle choisie ? qu est ce qui assure son opérationnalité et garantit le rattrapage ou signe au contraire son échec ?...Pour répondre à ces questions, nous nous sommes donc intéressés à ce moment critique où il est encore possible de modifier l issue finale par des ajustements posturaux et des actions motrices rapides et adéquats chez une population de jeunes adultes. La première étude est une analyse globale de la phase précoce d une chute -abrégée par un harnais- (soit quelques centaines de millisecondes après la perturbation), afin d évaluer la capacité du sujet à réagir à une perturbation imprévue et de développer des stratégies garantissant une protection efficace. Cette première étape se propose d identifier les indicateurs discriminants et prédictifs d une chute et d un rattrapage au niveau neurophysiologique et biomécanique. Cette étude a également permis de mettre en évidence la présence d un délai temporel incompressible appelé phase passive , source de contraintes spatio-temporelles à l expression complète d une réponse posturale adaptée. Dans la seconde étude, de modélisation, nous avons élaboré un modèle mécanique personnalisé, construit à partir de radiographies tridimensionnelles non invasives du corps entier. Cette modélisation nous a permis d analyser la contribution relative de propriétés biomécaniques passives et des synergies musculaires actives en jeu pendant les perturbations récupérables de l équilibre ou non en comparant les résultats expérimentaux ( réels ) obtenus à l aide d un dispositif asservi pour provoquer des chutes de plain-pied et la réponse théorique prédite ( simulée ) à l aide du modèle. Les résultats obtenus permettent de confirmer que le comportement du corps est en phase précoce-dicté par ses propriétés mécaniques, et peut être assimilé à un modèle simplifié. Après avoir mis en évidence l existence d une phase inertielle d une durée équivalente à la moitié du temps disponible avant l impact, notre questionnement s est orienté vers le traitement de l information en-cours lors de cette phase afin d évaluer la contribution corticale alors que la réponse posturale évolue. La troisième étude consiste principalement à appréhender la charge cognitive impliquée dans le contrôle sensori-moteur, en particulier lors d une chute, à l aide du paradigme de double-tâche. En conclusion, à travers une approche pluridisciplinaire, les résultats obtenus dans cette thèse permettent d émettre des recommandations intéressantes pour une prévention et une rééducation adaptée dans le but de contribuer à l amélioration de la qualité de vie des personnes âgées.A better understanding of what happens during an unintentional fall is relevant in preventing their occurrence. A fall is due to a failure of compensatory reactions to recover from postural perturbations during the descent phase which starts at the subject loss of balance point and lasts no more than 700-1000milliseconds [Hsiao, 1998]. The aim of the first study was to compare the biomechanical and muscular behavior during the pre-impact phase during non-recoverable falls and successful recovery trials. The experimental study aimed to evaluate the subject s ability to distinguish in the first 500 milliseconds following the onset of perturbation a low-threatening perturbation from a high challenging one and can then predict the scenario that will more likely lead to a fall using specific motor strategies. In such a challenging task, we hypothesized that the constraints imposed by the biomechanical properties ultimately determine the ability to trigger efficient muscle activities. Full body 3D kinematics and associated muscle activities were collected in 30 young healthy subjects during fast and slow unpredictable multidirectional support-surface translations. 40 cm support-surface translations were used to evoke the balancing reactions (0,35 vs 0,9 m/s during resp. 1000 vs 500 millisecond The perturbation velocities were selected so that successful recovery should occur in milder trials whereas fast trials were sufficiently challenging to trigger non-recoverable falls. Analyses focused on the spatial and temporal characteristics of the Centre of Mass, angle variations, recovery step characteristics, and EMG activities (onset latencies and amplitudes) across each trial and muscle. Moreover, a 17-segment numerical and personalized model was created, based on stereoradiographic head to feet X-ray images followed by 3D-reconstruction methods to assess subject-specific geometry and inertial parameters. The outputs resulting from simulated falls allowed us to discard the contributions of the passive (inertia-induced) versus the active mechanisms (feedback-controlled and time-delayed neuromuscular components) of the response. The first outcome of that study was that the fall could be divided in distinct phases. For about 200 milliseconds following the onset of platform translation, the head remained stable in space. Similarly, the comparison with the simulated data supported that the CoM displacement matched the subject-dependant mechanical model. During a second phase of the fall, despite the fact that automated muscle postural synergies started at 80 milliseconds after perturbation onset, the trajectory of the body appeared to be exclusively dictated by its biomechanical properties. Later, muscle activities influenced the body trajectories, which consequently differed on a trial-to-trial basis. The simulation was in good agreement with the experimental results. The specificity of the postural response resulting in a strategy chosen to avoid a fall thus appeared in a late-phase, which can be explained because during a fall, the subjects had to prepare to the impact on the basis of sensory information that were not redundant but available in a sequential order: proprioceptive information appearing first while vestibular and visual information continued to signal a stabilized head in space. The sole proprioceptive information would be insufficient to trigger rapid and appropriate postural response. Moreover, in accordance with our results suggesting the importance of the late-phase and on-line controlled responses, a long inertial passive phase in the fast trials does not allow a large spatiotemporal window for compensatory reactions to occur. These could not only depend on the previously described automated postural synergies because the time constraints imposed by biomechanics permit in principle volitional motricity to play an important role very early in the fall. (...)PARIS5-Bibliotheque electronique (751069902) / SudocSudocFranceF

    Queensland University of Technology: Handbook 1996

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    The Queensland University of Technology handbook gives an outline of the faculties and subject offerings available that were offered by QUT

    The drivers of Corporate Social Responsibility in the supply chain. A case study.

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    Purpose: The paper studies the way in which a SME integrates CSR into its corporate strategy, the practices it puts in place and how its CSR strategies reflect on its suppliers and customers relations. Methodology/Research limitations: A qualitative case study methodology is used. The use of a single case study limits the generalizing capacity of these findings. Findings: The entrepreneur’s ethical beliefs and value system play a fundamental role in shaping sustainable corporate strategy. Furthermore, the type of competitive strategy selected based on innovation, quality and responsibility clearly emerges both in terms of well defined management procedures and supply chain relations as a whole aimed at involving partners in the process of sustainable innovation. Originality/value: The paper presents a SME that has devised an original innovative business model. The study pivots on the issues of innovation and eco-sustainability in a context of drivers for CRS and business ethics. These values are considered fundamental at International level; the United Nations has declared 2011 the “International Year of Forestry”

    (b2023 to 2014) The UNBELIEVABLE similarities between the ideas of some people (2006-2016) and my ideas (2002-2008) in physics (quantum mechanics, cosmology), cognitive neuroscience, philosophy of mind, and philosophy (this manuscript would require a REVOLUTION in international academy environment!)

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    (b2023 to 2014) The UNBELIEVABLE similarities between the ideas of some people (2006-2016) and my ideas (2002-2008) in physics (quantum mechanics, cosmology), cognitive neuroscience, philosophy of mind, and philosophy (this manuscript would require a REVOLUTION in international academy environment!

    (2023 to 2014) The UNBELIEVABLE similarities between the ideas of some people (2006-2016) and my ideas (2002-2008) in physics (quantum mechanics, cosmology), cognitive neuroscience, philosophy of mind, and philosophy (this manuscript would require a REVOLUTION in international academy environment!)

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    The main ideas of the EDWs perspective are in Gabriel Vacariu’s PhD thesis posted online by UNSW (Australia) in 2007!!! I have realized the GREATEST discovery in the history of human knowledge: the EDWs! With discovering the EDWs, I have changed everything in Philosophy, Physics and Cognitive Neuroscience! This has been the main reason, so many people have published UNBELIEVABLE similar ideas to my ideas, many years I published my first works! UNBELIEVABLE, many (hundreds) “great” or small thinkers did the same thing in 2006-2007 and later: they published the same ideas, UNBELIEVABLE similar to my ideas from 2002-2005! They believe they would be considered co-authors of the same new framework of thinking. They did not know that many “professors” would do the same thing: they plagiarized my ideas and they hurry up to published their work as soon as possible (in 2006-2007, depending when they discovered my article 2005). So, in the same 2 years, many people “discovered” the same new framework of thinking, the EDWs perspective, each of them did not think that there would be so many other people doing the same thing, that is, many people “discovered” the same new framework (the greatest challenge in the history of human thinking!) in the same period! Such coincidences (the discovery of the EDWs in the same two years!!!) are quite IMPOSSIBLE!! This is the reason nobody quoted my name, but nobody quoted any name who PLAGIARIZED my ideas… In 2006-2007, I was wondering why nobody quote my name, but in fact, they plagiarized my ideas. Nobody discovered this framework of thinking 2500 years, and in 2-3 years, many people discovered it!!!! IMPOSSIBLE!!!! There were some "professors" who published articles/chapters very close to Bohr's complementarity, Dirac, de Broglie's dualism before 2005 (for instance Carlo Rovelli 1996 or Ladyman), but their works were constructed within the "unicorn world" (Universe/world), therefore, these works had nothing in common with the EDWs perspective!!!! In reality, all of them plagiarized my ideas! It was like many people composed Beethoven Fifth’s Symphony, claiming that they never listen Beethoven! Who would be so stupid to believe them

    (b2023 to 2014) The UNBELIEVABLE similarities between the ideas of some people (2006-2016) and my ideas (2002-2008) in physics (quantum mechanics, cosmology), cognitive neuroscience, philosophy of mind, and philosophy (this manuscript would require a REVOLUTION in international academy environment!)

    Get PDF
    The main ideas of the EDWs perspective are in Gabriel Vacariu’s PhD thesis posted online by UNSW (Australia) in 2007!!! I have realized the GREATEST discovery in the history of human knowledge: the EDWs! With discovering the EDWs, I have changed everything in Philosophy, Physics and Cognitive Neuroscience! This has been the main reason, so many people have published UNBELIEVABLE similar ideas to my ideas, many years I published my first works! UNBELIEVABLE, many (hundreds) “great” or small thinkers did the same thing in 2006-2007 and later: they published the same ideas, UNBELIEVABLE similar to my ideas from 2002-2005! They believe they would be considered co-authors of the same new framework of thinking. They did not know that many “professors” would do the same thing: they plagiarized my ideas and they hurry up to published their work as soon as possible (in 2006-2007, depending when they discovered my article 2005). So, in the same 2 years, many people “discovered” the same new framework of thinking, the EDWs perspective, each of them did not think that there would be so many other people doing the same thing, that is, many people “discovered” the same new framework (the greatest challenge in the history of human thinking!) in the same period! Such coincidences (the discovery of the EDWs in the same two years!!!) are quite IMPOSSIBLE!! This is the reason nobody quoted my name, but nobody quoted any name who PLAGIARIZED my ideas… In 2006-2007, I was wondering why nobody quote my name, but in fact, they plagiarized my ideas. Nobody discovered this framework of thinking 2500 years, and in 2-3 years, many people discovered it!!!! IMPOSSIBLE!!!! There were some "professors" who published articles/chapters very close to Bohr's complementarity, Dirac, de Broglie's dualism before 2005 (for instance Carlo Rovelli 1996 or Ladyman), but their works were constructed within the "unicorn world" (Universe/world), therefore, these works had nothing in common with the EDWs perspective!!!! In reality, all of them plagiarized my ideas! It was like many people composed Beethoven Fifth’s Symphony, claiming that they never listen Beethoven! Who would be so stupid to believe them
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