Vers une saisie en un seul clic : caractérisation de la forme 3D d'un objet à partir d'informations visuelles

National audienceDans cet article, nous nous intéressons à la saisie d'objets inconnus par un bras robotique équipé d'un système de vision. Suite au travail de [1], une nouvelle méthode permettant d'améliorer l'estimation de la pose et la forme de l'objet à saisir est proposée. Cette méthode s'appuie dans un premier temps sur une reconstruction voxellique de cet objet puis sur l'estimation de ses axes principaux et de ses dimensions. Des choix simplificateurs dans notre implémentation des techniques de reconstruction voxellique assurent un gain en temps de calcul tout en conservant la forme générale de l'objet reconstruit

Intuitive human interactive with an arm robot for severely handicapped people - A one click approach.

International audienceAssistance to disabled people is still a domain in which a lot of progress needs to be done. The more severe the handicap is, more complex are the devices, implying increased efforts to simplify the interactions between man and these devices. In this document we propose a solution to reduce the interaction between a user and a robotic arm. The system is equipped with two cameras. One is fixed on the top of the wheelchair (eye-to-hand) and the other one is mounted on the end effector of the robotic arm (eye-in-hand). The two cameras cooperate to reduce the grasping task to one click. The method is generic, it does not require marks on the object, geometrical model or the database. It thus provides a tool applicable to any kind of graspable object. The paper first gives an overview of the existing grasping tools for disabled people and proposes a novel approach toward an intuitive human machine interaction

Software infrastructure for wireless sensor and actuator networks

In the development of large ad-hoc Wireless Sensor and Actuator Agent Networks (SANETS), a multitude of disparate problems are faced. In order for these networks to function, software must be able to effectively manage: unreliable dynamic distributed communication, the power constraints of un-wired devices, failure of hardware devices in hostile environments and the remote allocation of distributed processing tasks throughout the network. The solutions to these problems must be solved in a highly scalable manner. The paper describes the process of analysis of the requirements and presents a design of a service-oriented software infrastructure (middleware) solution for scalable ad-hoc networks, in a context of a system made of mobile sensors and actuators. © 2011 IEEE

Active rough shape estimation of unknown objects

International audienceThis paper presents a method to determine the rough shape of an object. This is a step in the development of a One Click Grasping Tool, a grasping tool of everyday-life objects for an assistant robot dedicated to elderly or disabled. The goal is to determine the quadric that approximates at best the shape of an unknown object using multi-view measurements. Non-linear optimization techniques are considered to achieve this goal. Since multiple views are necessary, an active vision process is considered in order to minimize the uncertainty on the estimated parameters and determine the next best view. Finally, results that show the validity of the approach are presented

Vision-based grasping of unknown objects to improve disabled people autonomy.

International audienceThis paper presents our contribution to vision based robotic assistance for people with disabilities. The rehabilitative robotic arms currently available on the market are directly controlled by adaptive devices, which lead to increasing strain on the user's disability. To reduce the need for user's actions, we propose here several vision-based solutions to automatize the grasping of unknown objects. Neither appearance data bases nor object models are considered. All the needed information is computed on line. This paper focuses on the positioning of the camera and the gripper approach. For each of those two steps, two alternative solutions are provided. All the methods have been tested and validated on robotics cells. Some have already been integrated into our mobile robot SAM

Critiquing the Health Belief Model and sexual risk behaviours among adolescents : a narrative review of familial and peer influence

Research into the rising rates of sexually transmitted infections and unwanted pregnancies among adolescents has highlighted the challenge in developing sexual education campaigns that affect behavioural change. Frequent attempts to apply the otherwise robust Health Belief Model to the challenge of high-risk sexual behaviours have yielded confounding results from sexually active teens who discount the seriousness of consequences or their susceptibility to them. Social dynamics involving familial and peer relationships may strongly influence teen sexual risk-taking; the growing population of sexual risk-takers is strongly associated with disengaged family environments and a shift in alliance from family to peer community. This shift in identification to peer groups, in the absence of supportive parental relationships, is correlated with permissive and coercive sexual behaviour and a future of substance abuse, depression, sexually transmitted infections and unwanted pregnancy. This paper seeks to explore the correlation between peer interaction and parental relationships and availability, while assessing the predictive value of the Health Belief Model in relation to adolescent high risk sexual behaviour. Doing so can inform research to further clarify the nature of these associations and investigate new insights into adolescent sexual dynamics and new policy and programming approaches to sexual health promotion

Scintillation light detection in the 6-m drift-length ProtoDUNE Dual Phase liquid argon TPC

DUNE is a dual-site experiment for long-baseline neutrino oscillation studies, neutrino astrophysics and nucleon decay searches. ProtoDUNE Dual Phase (DP) is a 6 ?? 6 ?? 6 m3 liquid argon time-projection-chamber (LArTPC) that recorded cosmic-muon data at the CERN Neutrino Platform in 2019???2020 as a prototype of the DUNE Far Detector. Charged particles propagating through the LArTPC produce ionization and scintillation light. The scintillation light signal in these detectors can provide the trigger for non-beam events. In addition, it adds precise timing capabilities and improves the calorimetry measurements. In ProtoDUNE-DP, scintillation and electroluminescence light produced by cosmic muons in the LArTPC is collected by photomultiplier tubes placed up to 7 m away from the ionizing track. In this paper, the ProtoDUNE-DP photon detection system performance is evaluated with a particular focus on the different wavelength shifters, such as PEN and TPB, and the use of Xe-doped LAr, considering its future use in giant LArTPCs. The scintillation light production and propagation processes are analyzed and a comparison of simulation to data is performed, improving understanding of the liquid argon properties

A qualitative study exploring feasibility and acceptability of acupuncture, yoga, and mindfulness meditation for managing weight after breast cancer

Introduction: Weight gain is common after breast cancer. Yoga, mindfulness meditation, and acupuncture may assist with managing weight. However, evidence on effectiveness is limited. This study assessed the feasibility and acceptability of recruiting for and implementing a randomized controlled trial (RCT) evaluating these interventions as adjuncts to lifestyle interventions (diet and exercise) for weight management in women with breast cancer. Methods: Qualitative study involving virtual focus groups or semi-structured interviews. Participants were recruited via email invitation from a breast cancer consumer organization and breast cancer center in Australia. Eligible participants had received treatment for breast cancer, and were fluent in English. A purposive sample of culturally and linguistically diverse (CALD) participants was also recruited. Focus groups and interviews were audio-recorded, transcribed verbatim and analyzed using thematic analysis with the constant comparison method. Results: Emails were sent to 1415 women of which 37 provided data in 5 focus groups and 1 semi-structured interview, including 1 focus group (n = 6) with only women from CALD backgrounds. Yoga and mindfulness meditation were perceived as feasible and acceptable for weight management, but acupuncture was seen to be too invasive to be acceptable. A focus on wellness rather than weight reduction, flexible program delivery, trusted advice, consideration of participant burden and benefit, and peer-support were key factors perceived to increase feasibility and acceptability. Conclusions: Yoga and mindfulness meditation are acceptable and useful adjuncts to lifestyle interventions for weight management after breast cancer. This research places end-users at the forefront of trial design, and will inform future trials using these interventions for weight management and improving health and wellbeing after breast cancer

Design, construction and operation of the ProtoDUNE-SP Liquid Argon TPC

The ProtoDUNE-SP detector is a single-phase liquid argon time projection chamber (LArTPC) that was constructed and operated in the CERN North Area at the end of the H4 beamline. This detector is a prototype for the first far detector module of the Deep Underground Neutrino Experiment (DUNE), which will be constructed at the Sandford Underground Research Facility (SURF) in Lead, South Dakota, U.S.A. The ProtoDUNE-SP detector incorporates full-size components as designed for DUNE and has an active volume of 7 × 6 × 7.2 m3. The H4 beam delivers incident particles with well-measured momenta and high-purity particle identification. ProtoDUNE-SP\u27s successful operation between 2018 and 2020 demonstrates the effectiveness of the single-phase far detector design. This paper describes the design, construction, assembly and operation of the detector components