An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6 degree of freedom force and torque, decoupling the system's translational and rotational dynamics, and enabling precise interaction with the environment while maintaining stability. An impedance controller with selective apparent inertia is formulated to permit compliance in certain degrees of freedom while achieving precise trajectory tracking and disturbance rejection in others. Experiments demonstrate disturbance rejection, push-and-slide interaction, and on-board state estimation with depth servoing to interact with local surfaces. The system is also validated as a tool for contact-based non-destructive testing of concrete infrastructure.Comment: Accepted submission to Robotics: Science and Systems conference 2019. 9 pages, 12 figure

Interprofessional collaboration between teachers and school social workers – The role of self-perceived social burden

In diesem Beitrag wird der Zusammenhang zwischen der subjektiven sozialen Belastung von Lehrpersonen und der Häufigkeit der Zusammenarbeit von Lehrpersonen und Schulsozialarbeitenden untersucht. Der Fokus liegt auf der Frage, welche Rolle die Funktion der Lehrpersonen dabei spielt. Dazu werden Daten einer schriftlichen Befragung von Lehrpersonen im Rahmen einer Nationalfondsstudie mittels einer hierarchischen Regressionsanalyse untersucht (n = 1889). Die Ergebnisse der Querschnittstudie zeigen, dass ein signifikanter Zusammenhang besteht zwischen der subjektiven sozialen Belastung der Lehrpersonen sowie der Funktion der Lehrpersonen und der Häufigkeit der Zusammenarbeit mit der Schulsozialarbeit. (DIPF/Orig.)Our study investigates the relationship between social burden as perceived by teachers and the frequency of collaboration between teachers and school social workers. A special focus lies on the role of different functions of the teachers. In this quantitative cross-sectional study, we used questionnaires for gathering data from teachers (n = 1889). Data analysis was conducted by means of hierarchical regression analysis. The results show a significant correlation between the self-perceived social burden of teachers, their function, and the frequency of collaboration between teachers and school social workers. (DIPF/Orig.

Les pièges de chasse antiques au Yémen

This short article provides a first glimpse at ancient hunting structures in Southern Arabia, which represents a new field of research. The hunting structures of Yemen are compared to the well-known desert kites of North Arabia. The form of the Yemeni desert kite does not change; it is fixed. Two long walls lead to the head which is an open structure with many chambers on the left side, a guiding wall on the right side and a gangway in between. Three examples are presented in detail. Desert kites served for hunting gazelles and were probably in use from the Neolithic till the Sabean period

Télédetection archéologique dans la Wadi Markha

L'Arabie du Sud constitue, à plus d'un titre, un terrain adapté à la télédétection. Ses vastes espaces rendent difficile au chercheur d'y acquérir une vue d'ensemble. L'accès à certaines régions reste malaisé. Il existe de surcroît des documents fournissant des indications sur la situation antérieure à la transformation considérable du paysage au cours des 20 dernières années. Trois niveaux d'observation peuvent être distingués en matière de télédétection : 1. d'un satellite à enviro..

Sharing water

Stakeholders Water is a precious good, basic to all life. Therefore, sharing water means first of all sharing the water between different stakeholders, Man being just one among them. Human needs may absorb up to 40% of an ecosystem without stressing it. Nature60% animalsplantsWater 70%irrigationMan40% household10%industry20%religion1% It is essential that people leaves enough water to nature in order to preserve the local climate, keep a high biodiversity and perpetuate a well-functioning eco..

Télédetection archéologique dans la Wadi Markha

L'Arabie du Sud constitue, à plus d'un titre, un terrain adapté à la télédétection. Ses vastes espaces rendent difficile au chercheur d'y acquérir une vue d'ensemble. L'accès à certaines régions reste malaisé. Il existe de surcroît des documents fournissant des indications sur la situation antérieure à la transformation considérable du paysage au cours des 20 dernières années. Trois niveaux d'observation peuvent être distingués en matière de télédétection : 1. d'un satellite à envi..