2,840 research outputs found
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
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