Grasping unknown objects in clutter by superquadric representation

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited for unknown symmetric objects in cluttered scenarios which is followed by optimized antipodal grasping. The incomplete object models are processed through a mirroring algorithm that assumes symmetry to first create an approximate complete model and then fit for SQ representation. The grasping algorithm is designed for maximum force balance and stability, taking advantage of the quick retrieval of dimension and surface curvature information from the SQ parameters. The pose of the SQs with respect to the direction of gravity is calculated and used together with the parameters of the SQs and specification of the gripper, to select the best direction of approach and contact points. The SQ fitting method has been tested on custom datasets containing objects in isolation as well as in clutter. The grasping algorithm is evaluated on a PR2 robot and real time results are presented. Initial results indicate that though the method is based on simplistic shape information, it outperforms other learning based grasping algorithms that also work in clutter in terms of time-efficiency and accuracy.Peer ReviewedPostprint (author's final draft

Narrativa y deporte en la Literatura española del siglo XX

Las líneas que conforman este trabajo tienen varias pretensiones. En primer lugar, realizar un acercamiento al panorama general literario del siglo XX en relación a la literatura deportiva. En segundo lugar, profundizar en ejemplos concretos de género narrativo a través de comentarios enfocados al tratamiento del deporte. Por último, realizar una reflexión final acerca de cómo ha funcionado la deportividad en los ejemplos anteriormente presentados, atendiendo a su razón de ser, su trayectoria y su funcionamiento en el mundo cultural del siglo XX. La decisión de centrarme en el género narrativo atiende, primeramente, al hecho de que, dentro del escaso estudio pormenorizado que existe de la literatura deportiva, el género más cultivado ha sido el de la poesía. Por esta razón, me resultó interesante el tratamiento de este género, que, junto al teatro y al ensayo, ha quedado ensombrecido en lo que se refiere a los estudios realizados. Bien es cierto que la creación poética con temática deportiva ha sido cultivada en mayor proporción en la primera parte de siglo si se compara con los otros géneros, pero el transcurso del tiempo, como podrá verse, muestra una inversión en este sentido. La poesía va perdiendo potencia creadora dando paso a la narrativa en el siglo XX, precediendo al total desarrollo que alcanzará en el siglo XXI, fenómeno que, aunque interesante, no se desarrolla en este trabajo. Los ejemplos seleccionados para su estudio en las páginas siguientes intentan abarcar, en la medida de lo posible, un abanico de obras que se extienda a lo largo del todo el siglo XX, comenzando por los años veinte hasta llegar a los últimos años de los noventa. Ciertamente, los estudios teóricos existentes en relación con la literatura deportiva se centran, fundamentalmente, en aportar un listado de títulos y autores de obras de los diferentes géneros., Sin embargo, la tarea de análisis y estudio detenido en cada obra es prácticamente inexistente, siendo la poesía el género más estudiado.Departamento de Literatura Española y Teoría de la Literatura y Literatura ComparadaMáster en Estudios Filológicos Superiores: Investigación y Aplicaciones Profesionale

El Terme norma en els diccionaris de llengua catalana i de llengua castellana

Aquest treball és un estudi sobre el terme norma, en el sentit de norma lingüística, en diccionaris normatius i d'ús de llengua catalana i de llengua castellana. L'objectiu principal és detectar pistes que ens donin informació sobre la concepció de norma que es vehicula en els diccionaris a través de la mateixa definició de norma i de les ocurrències del terme en la resta dels articles lexicogràfics dels diccionaris.This paper is a study of the term norm, in the sense of linguistic norm, in normative and descriptive dictionaries of Catalan and Spanish. The main goal is to obtain clues that give us information about the dictionaries’ concept of norm. This is achieved by studying the definitions proper and the occurrences of the term in the lexicographic articles

El desarrollo musical en la educación primaria. Detección y actuación de futuros músicos

Treball de Final de Grau en Mestre o Mestra d'Educació Primària. Codi: MP1040. Curs acadèmic 2015-2016Este trabajo analiza los diversos autores que han hablado sobre el desarrollo musical de los niños relacionándolo con desarrollo evolutivo de los niños durante la etapa de educación primaria. Esta investigación es precisa para establecer la media en el desarrollo musical y así poder detectar en las aulas de primaria aquellos alumnos que tienen potencial, actitud, capacidad…para la música. El objetivo es enmendar la poca información que poseen los maestros generalistas y en algunos casos los especialistas de música sobre este tema. Después de una revisión teórica, se crea una serie de indicaciones para verificar si existen o no tales condiciones y en el caso que sea positivo se ejecutarán unas pautas para derivarlo al lugar correspondiente con la finalidad de desarrollar dichas facultadesThis work analyses different authors that talk about the children’s musical development related to child’s development during the primary school. This research is necessary to set an average in the musical development and be able to find in the classrooms those children who have the potential, attitude and ability to make music. The aim is to amend the insufficient information that teachers and some music specialists have about the issue. After a theoretical review, a series of indicators are created to check whether such conditions exist or not. If so, some guidelines will be executed in order to send the children to the best place for develop those abilitie

Synthesis of spatial RPRP closed linkages for a given screw system

The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task positions and, in some cases, may yield a system with negative mobility. These problems can be avoided for some overconstrained but movable linkages if the finite-screw system associated with the motion of the linkage is known. The finite-screw system defining the motion of the robot is generated by a set of screws, which can be related to the set of finite task positions traditionally used in the synthesis theory. The interest of this paper lies in presenting a method to define the whole workspace of the linkage as the input task for the exact dimensional synthesis problem. This method is applied to the spatial RPRP closed linkage, for which one solution exists.Postprint (author’s final draft

The extender tags and the like and or something in late Modern English: A formal and functional approach

Extender tags can be defined as a class of expressions of the type and stuff and or something that are added to the end of phrases, sometimes in clause-final position in order to extend otherwise complete utterances (Overstreet 1999). Although such expressions have been broadly studied in present-day English from very diverse perspectives, a thorough historical examination of these forms is still lacking. The aim of this dissertation is to offer a corpus-based analysis of the extender tags and the like and or something in the late Modern English period (1700 - 1900), with data from the Eighteenth Century Fiction and the Nineteenth Century Fiction. The main focus of the thesis is on the formal and textual features of these tags, as well as on the functions they perform during this period. Attention is also paid to their historical development from the point of view of grammaticalization

A study of the treatment of the Korean conflict in english-language newspapers through critical discourse analysis

Traballo Fin de Grao en Lingua e Literatura Inglesas. Curso 2017-2018Critical discourse analysis gives us the tools to study the use of language from a social perspective. I aim to give an overview of the main currents and ideas of critical discourse analysis, and afterwards use its methodology to analyse written texts dealing with the Korean conflict in the English-language press. The Korean conflict has been an ongoing political and military struggle sapnning from the end of Wold War II (1945) to our days. The development of nuclear weapons by the PDRK (Democratic's People Republic of North Korea) and the role of the United States of America in the conflict make it one of the most talked about international topics these days, especially after the election of Donald Trump as President of the United States. Before my analysis of the press, Iwill contextualise the situation with historical facts, so that any possible bias or manipulation may be counterbalanced. I will look at the treatment thar news and articles give to North Korea and the Korean conflict in English language media through an orientalist gaza by western media. Ultimately, this study is about the way thar language may condition the way we cognise the world