Open World Assistive Grasping Using Laser Selection

Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is comprised of a robot arm from a Rethink Robotics Baxter robot mounted to an assistive mobility device, a control system for that arm, and a user interface with a variety of access methods for selecting desired objects. The system uses grasp detection to allow previously unseen objects to be picked up by the system. The grasp detection algorithms also allow for objects to be grasped in cluttered environments. We evaluate our system in a number of experiments on a large variety of objects. Overall, we achieve an object selection success rate of 88% and a grasp detection success rate of 90% in a non-mobile scenario, and success rates of 89% and 72% in a mobile scenario

Reflexões sobre finanças públicas e direito financeiro

- Divulgação dos SUMÁRIOS das obras recentemente incorporadas ao acervo da Biblioteca Ministro Oscar Saraiva do STJ. Em respeito à Lei de Direitos Autorais, não disponibilizamos a obra na íntegra.- Localização na estante: 347.73 A159

Orçamento público como instrumento de cidadania fiscal

O artigo trata da questão da cidadania participativa em sua vertente fiscal, tomando o orçamento público como instrumento a ser divulgado e conhecido pela população como forma privilegiada de controle e planejamento de gasto dos recursos públicos voltados a atender as necessidades coletivas. Versa também sobre a possibilidade de os cidadãos influenciarem diretamente a elaboração do orçamento público, ao lado do Poder Executivo e Legislativo, através do mecanismo do orçamento participativo

Curso de Direito Financeiro brasileiro

- Divulgação dos SUMÁRIOS das obras recentemente incorporadas ao acervo da Biblioteca Ministro Oscar Saraiva do STJ. Em respeito à Lei de Direitos Autorais, não disponibilizamos a obra na íntegra.- Localização na estante: 347.73(81) A159

Effect of hydrogen bonding and complexation with metal ions on the fluorescence of luotonin A

Fluorescence characteristics of a biologically active natural alkaloid, luotonin A (LuA), were studied by steady-state and time-resolved spectroscopic methods. The rate constant of the radiationless deactivation from the singlet-excited state diminished by more than one order of magnitude when the solvent polarity was changed from toluene to water. Dual emission was found in polyfluorinated alcohols of large hydrogen bond donating ability due to photoinitiated proton displacement along the hydrogen bond. In CH 2Cl2, LuA produced both 1:1 and 1:2 hydrogen-bonded complexes with hexafluoro-2-propanol (HFIP) in the ground state. Photoexcitation of the 1:2 complex led to protonated LuA, whose fluorescence appeared at a long wavelength. LuA served as a bidentate ligand forming 1:1 complexes with metal ions in acetonitrile. The stability of the complexes diminished in the series of Cd2+ > Zn2+ > Ag+, and upon competitive binding of water to the metal cations. The effect of chelate formation on the fluorescent properties was revealed. © 2013 The Royal Society of Chemistry and Owner Societies