584 research outputs found

    Cooperative tasks between humans and robots in industrial environments

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    Collaborative tasks between human operators and robotic manipulators can improve the performance and flexibility of industrial environments. Nevertheless, the safety of humans should always be guaranteed and the behaviour of the robots should be modified when a risk of collision may happen. This paper presents the research that the authors have performed in recent years in order to develop a human-robot interaction system which guarantees human safety by precisely tracking the complete body of the human and by activating safety strategies when the distance between them is too small. This paper not only summarizes the techniques which have been implemented in order to develop this system, but it also shows its application in three real human-robot interaction tasks.The research leading to these results has received funding from the European CommunityÊčs Seventh Framework Programme (FP7/2007‐2013) under Grant Agreement no. 231640 and the project HANDLE. This research has also been supported by the Spanish Ministry of Education and Science through the research project DPI2011‐22766

    About the connection between the CℓC_{\ell} power spectrum of the Cosmic Microwave Background and the Γm\Gamma_{m} Fourier spectrum of rings on the sky

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    In this article we present and study a scaling law of the mΓmm\Gamma_m CMB Fourier spectrum on rings which allows us (i) to combine spectra corresponding to different colatitude angles (e.g. several detectors at the focal plane of a telescope), and (ii) to recover the ClC_l power spectrum once the Γm\Gamma_m coefficients have been measured. This recovery is performed numerically below the 1% level for colatitudes Θ>80∘\Theta> 80^\circ degrees. In addition, taking advantage of the smoothness of the ClC_l and of the Γm\Gamma_m, we provide analytical expressions which allow to recover one of the spectrum at the 1% level, the other one being known.Comment: 8 pages, 8 figure

    Comparison of absolute gain photometric calibration between Planck/HFI and Herschel/SPIRE at 545 and 857 GHz

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    We compare the absolute gain photometric calibration of the Planck/HFI and Herschel/SPIRE instruments on diffuse emission. The absolute calibration of HFI and SPIRE each relies on planet flux measurements and comparison with theoretical far-infrared emission models of planetary atmospheres. We measure the photometric cross calibration between the instruments at two overlapping bands, 545 GHz / 500 Ό\mum and 857 GHz / 350 Ό\mum. The SPIRE maps used have been processed in the Herschel Interactive Processing Environment (Version 12) and the HFI data are from the 2015 Public Data Release 2. For our study we used 15 large fields observed with SPIRE, which cover a total of about 120 deg^2. We have selected these fields carefully to provide high signal-to-noise ratio, avoid residual systematics in the SPIRE maps, and span a wide range of surface brightness. The HFI maps are bandpass-corrected to match the emission observed by the SPIRE bandpasses. The SPIRE maps are convolved to match the HFI beam and put on a common pixel grid. We measure the cross-calibration relative gain between the instruments using two methods in each field, pixel-to-pixel correlation and angular power spectrum measurements. The SPIRE / HFI relative gains are 1.047 (±\pm 0.0069) and 1.003 (±\pm 0.0080) at 545 and 857 GHz, respectively, indicating very good agreement between the instruments. These relative gains deviate from unity by much less than the uncertainty of the absolute extended emission calibration, which is about 6.4% and 9.5% for HFI and SPIRE, respectively, but the deviations are comparable to the values 1.4% and 5.5% for HFI and SPIRE if the uncertainty from models of the common calibrator can be discounted. Of the 5.5% uncertainty for SPIRE, 4% arises from the uncertainty of the effective beam solid angle, which impacts the adopted SPIRE point source to extended source unit conversion factor (Abridged)Comment: 13 pages, 10 figures; Incorporates revisions in response to referee comments; cross calibration factors unchange

    Galactic Bulge Microlensing Optical Depth from EROS-2

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    We present a new EROS-2 measurement of the microlensing optical depth toward the Galactic Bulge. Light curves of 5.6×1065.6\times 10^{6} clump-giant stars distributed over 66deg⁥266 \deg^2 of the Bulge were monitored during seven Bulge seasons. 120 events were found with apparent amplifications greater than 1.6 and Einstein radius crossing times in the range 5 {\rm d}. This is the largest existing sample of clump-giant events and the first to include northern Galactic fields. In the Galactic latitude range 1.4\degr<|b|<7.0\degr, we find τ/10−6=(1.62±0.23)exp⁥[−a(∣b∣−3deg)]\tau/10^{-6}=(1.62 \pm 0.23)\exp[-a(|b|-3 {\rm deg})] with a=(0.43±0.16)deg⁡−1a=(0.43 \pm0.16)\deg^{-1}. These results are in good agreement with our previous measurement, with recent measurements of the MACHO and OGLE-II groups, and with predictions of Bulge models.Comment: accepted A&A, minor revision

    Observational Limits on Machos in the Galactic Halo

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    We present final results from the first phase of the EROS search for gravitational microlensing of stars in the Magellanic Clouds by unseen deflectors (machos: MAssive Compact Halo Objects). The search is sensitive to events with time scales between 15 minutes and 200 days corresponding to deflector masses in the range 1.e-7 to a few solar masses. Two events were observed that are compatible with microlensing by objects of mass of about 0.1 Mo. By comparing the results with the expected number of events for various models of the Galaxy, we conclude that machos in the mass range [1.e-7, 0.02] Mo make up less than 20% (95% C.L.) of the Halo dark matter.Comment: 4 pages, 3 Postscript figures, to be published in Astronomy & Astrophysic

    Observation of periodic variable stars towards the galactic spiral arms by EROS II

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    We present the results of a massive variability search based on a photometric survey of a six square degree region along the Galactic plane at (l=305∘l = 305^\circ, b=−0.8∘b = -0.8^\circ) and (l=330∘l = 330^\circ, b=−2.5∘b = -2.5^\circ). This survey was performed in the framework of the EROS II (Exp\'erience de Recherche d'Objets Sombres) microlensing program. The variable stars were found among 1,913,576 stars that were monitored between April and June 1998 in two passbands, with an average of 60 measurements. A new period-search technique is proposed which makes use of a statistical variable that characterizes the overall regularity of the flux versus phase diagram. This method is well suited when the photometric data are unevenly distributed in time, as is our case. 1,362 objects whose luminosity varies were selected. Among them we identified 9 Cepheids, 19 RR Lyrae, 34 Miras, 176 eclipsing binaries and 266 Semi-Regular stars. Most of them are newly identified objects. The cross-identification with known catalogues has been performed. The mean distance of the RR Lyrae is estimated to be ∌4.9±0.3\sim 4.9 \pm 0.3 kpc undergoing an average absorption of ∌3.4±0.2\sim 3.4 \pm 0.2 magnitudes. This distance is in good agreement with the one of disc stars which contribute to the microlensing source star population.Our catalogue and light curves are available electronically from the CDS, Strasbourg and from our Web site http://eros.in2p3.fr.Comment: 15 pages, 11 figures, accepted in A&A (april 2002

    The EROS2 search for microlensing events towards the spiral arms: the complete seven season results

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    The EROS-2 project has been designed to search for microlensing events towards any dense stellar field. The densest parts of the Galactic spiral arms have been monitored to maximize the microlensing signal expected from the stars of the Galactic disk and bulge. 12.9 million stars have been monitored during 7 seasons towards 4 directions in the Galactic plane, away from the Galactic center. A total of 27 microlensing event candidates have been found. Estimates of the optical depths from the 22 best events are provided. A first order interpretation shows that simple Galactic models with a standard disk and an elongated bulge are in agreement with our observations. We find that the average microlensing optical depth towards the complete EROS-cataloged stars of the spiral arms is τˉ=0.51±.13×10−6\bar{\tau} =0.51\pm .13\times 10^{-6}, a number that is stable when the selection criteria are moderately varied. As the EROS catalog is almost complete up to IC=18.5I_C=18.5, the optical depth estimated for the sub-sample of bright target stars with IC<18.5I_C<18.5 (τˉ=0.39±>.11×10−6\bar{\tau}=0.39\pm >.11\times 10^{-6}) is easier to interpret. The set of microlensing events that we have observed is consistent with a simple Galactic model. A more precise interpretation would require either a better knowledge of the distance distribution of the target stars, or a simulation based on a Galactic model. For this purpose, we define and discuss the concept of optical depth for a given catalog or for a limiting magnitude.Comment: 22 pages submitted to Astronomy & Astrophysic

    Discovery of a peculiar Cepheid-like star towards the northern edge of the Small Magellanic Cloud

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    For seven years, the EROS-2 project obtained a mass of photometric data on variable stars. We present a peculiar Cepheid-like star, in the direction of the Small Magellanic Cloud, which demonstrates unusual photometric behaviour over a short time interval. We report on data of the photometry acquired by the MARLY telescope and spectroscopy from the EFOSC instrument for this star, called EROS2 J005135-714459(sm0060n13842), which resembles the unusual Cepheid HR 7308. The light curve of our target is analysed using the Analysis of Variance method to determine a pulsational period of 5.5675 days. A fit of time-dependent Fourier coefficients is performed and a search for proper motion is conducted. The light curve exhibits a previously unobserved and spectacular change in both mean magnitude and amplitude, which has no clear theoretical explanation. Our analysis of the spectrum implies a radial velocity of 104 km s−1^{-1} and a metallicity of -0.4±\pm0.2 dex. In the direction of right ascension, we measure a proper motion of 17.4±\pm6.0 mas yr−1^{-1} using EROS astrometry, which is compatible with data from the NOMAD catalogue. The nature of EROS2 J005135-714459(sm0060n13842) remains unclear. For this star, we may have detected a non-zero proper motion for this star, which would imply that it is a foreground object. Its radial velocity, pulsational characteristics, and photometric data, however, suggest that it is instead a Cepheid-like object located in the SMC. In such a case, it would present a challenge to conventional Cepheid models.Comment: Correction of typos in the abstrac

    Removing the Microlensing Blending-Parallax Degeneracy Using Source Variability

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    Microlensing event MACHO 97-SMC-1 is one of the rare microlensing events for which the source is a variable star, simply because most variable stars are systematically eliminated from microlensing studies. Using observational data for this event, we show that the intrinsic variability of a microlensed star is a powerful tool to constrain the nature of the lens by breaking the degeneracy between the microlens parallax and the blended light. We also present a statistical test for discriminating the location of the lens based on the \chi^2 contours of the vector \Lambda, the inverse of the projected velocity. We find that while SMC self lensing is somewhat favored over halo lensing, neither location can be ruled out with good confidence.Comment: 15 text pages + 2 tables + 7 figures. Published in the Astrophysical Journa

    New Magellanic Cloud R Coronae Borealis and DY Per type stars from the EROS-2 database: the connection between RCBs, DYPers and ordinary carbon stars

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    R Coronae Borealis stars (RCB) are a rare type of evolved carbon-rich supergiant stars that are increasingly thought to result from the merger of two white dwarfs, called the Double degenerate scenario. This scenario is also studied as a source, at higher mass, of type Ia Supernovae (SnIa) explosions. Therefore a better understanding of RCBs composition would help to constrain simulations of such events. We searched for and studied RCB stars in the EROS Magellanic Clouds database. We also extended our research to DY Per type stars (DYPers) that are expected to be cooler RCBs (T~3500 K) and much more numerous than their hotter counterparts. The light curves of ~70 millions stars have been analysed to search for the main signature of RCBs and DYPers: a large drop in luminosity. Follow-up optical spectroscopy was used to confirm each photometric candidate found. We have discovered and confirmed 6 new Magellanic Cloud RCB stars and 7 new DYPers, but also listed new candidates: 3 RCBs and 14 DYPers. We estimated a range of Magellanic RCB shell temperatures between 360 and 600 K. We confirm the wide range of absolute luminosity known for RCB stars, M_V~-5.2 to -2.6. Our study further shows that mid-infrared surveys are ideal to search for RCB stars, since they have thinner and cooler circumstellar shells than classical post-AGB stars. In addition, by increasing the number of known DYPers by ~400%, we have been able to shed light on the similarities in the spectral energy distribution between DYPers and ordinary carbon stars. We also observed that DYPer circumstellar shells are fainter and hotter than those of RCBs. This suggests that DYPers may simply be ordinary carbon stars with ejection events, but more abundance analysis is necessary to give a status on a possible evolutionnary connexion between RCBs and DYPers.Comment: 22 pages, 38 figures, Accepted for publication in A&
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