This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback s...
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ISBN:
(纸本)1424401704;9781424401703
This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with eye-in-hand configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance
We propose an instruction display and a skill level index to evaluate the degree of progress. The instruction display shows an exemplary trajectory. Learners learn the trajectory to be traced through by their joints. ...
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We propose an instruction display and a skill level index to evaluate the degree of progress. The instruction display shows an exemplary trajectory. Learners learn the trajectory to be traced through by their joints. The trajectory is generated from a time series data of 3-dimensional coordinates of joints in the human body acquired from the expert motion. The instruction display enables learners to understand the difference between learners' motion and expert's one. The skill level index shows numerically the difference between learners' motion and expert's one. To realize evaluation which does not depend on motion speed, we use continuous dynamic programming (DP) matching. The values obtained from continuous DP matching show learner's skill level. To verify the effect of the instruction display and the skill level index, we experiment with learners who learn left arm motion with the instruction display and report its result
Public health is an increasingly important issue for environmental engineers, as indicated by the ABET 2005-2006 accreditation guidelines. An Environmental Health for Developing Communities course was developed as par...
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This paper presents our recent theoretical results on high genus modeling. We introduce a new concept called regular handles. Using regular handles it is possible to increase genus without increasing the number of ver...
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This paper presents our recent theoretical results on high genus modeling. We introduce a new concept called regular handles. Using regular handles it is possible to increase genus without increasing the number of vertices. Using regular handles a wide variety of mesh structures can be constructed. One of the usages of regular handles is to construct families of regular meshes, which is useful to create a wide variety of high genus mesh structures
Background: The PedsQL(TM) Present Functioning Visual Analogue Scales ( PedsQL T VAS) were designed as an ecological momentary assessment (EMA) instrument to rapidly measure present or at-the-moment functioning in chi...
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Background: The PedsQL(TM) Present Functioning Visual Analogue Scales ( PedsQL T VAS) were designed as an ecological momentary assessment (EMA) instrument to rapidly measure present or at-the-moment functioning in children and adolescents. The PedsQL(TM) VAS assess child self-report and parent-proxy report of anxiety, sadness, anger, worry, fatigue, and pain utilizing six developmentally appropriate visual analogue scales based on the well-established Varni/Thompson Pediatric Pain Questionnaire (PPQ) Pain Intensity VAS format. Methods: The six-item PedsQL(TM) VAS was administered to 70 pediatric patients ages 5 - 17 and their parents upon admittance to the hospital environment ( Time 1: T1) and again two hours later ( Time 2: T2). It was hypothesized that the PedsQL(TM) VAS Emotional Distress Summary Score ( anxiety, sadness, anger, worry) and the fatigue VAS would demonstrate moderate to large effect size correlations with the PPQ Pain Intensity VAS, and that patient" parent concordance would increase over time. Results: Test-retest reliability was demonstrated from T1 to T2 in the large effect size range. Internal consistency reliability was demonstrated for the PedsQL(TM) VAS Total Symptom Score ( patient self-report: T1 alpha =.72, T2 alpha =.80;parent proxy-report: T1 alpha =.80, T2 alpha =.84) and Emotional Distress Summary Score ( patient self-report: T1 alpha =.74, T2 alpha =.73;parent proxy-report: T1 alpha =.76, T2 alpha =.81). As hypothesized, the Emotional Distress Summary Score and Fatigue VAS were significantly correlated with the PPQ Pain VAS in the medium to large effect size range, and patient and parent concordance increased from T1 to T2. Conclusion: The results demonstrate preliminary test-retest and internal consistency reliability and construct validity of the PedsQL T Present Functioning VAS instrument for both pediatric patient self-report and parent proxy-report. Further field testing is required to extend these initial findings to other eco
A watershed management framework for mountain areas is based on lessons learned from watershed management experience, social and institutional learning, and the use of a watershed management program evaluation in Nepa...
A watershed management framework for mountain areas is based on lessons learned from watershed management experience, social and institutional learning, and the use of a watershed management program evaluation in Nepal. The lessons led to the adoption of a subwatershed-based ecosystem approach based on local participation at the subwatershed level. An integrated watershed management framework (IWMF) consisting of eight steps with three checklists was developed focusing on improvement-oriented adaptive management. The eight steps lead to the preparation of a watershed management plan. In the process three checklists are used. While the first checklist has general questions pertaining to watershed analysis, the second allows participation analysis of stakeholders in terms of their strengths, weaknesses, opportunities and threats and opens up new prospects for further reinforcing or building new user group institutions based on consensus. The final checklist consists of hierarchical watershed management objectives, including goals, results and activities leading to a program planning matrix. The framework was applied to watershed planning in the Chure Region to compare the framework-based planning with conventional planning procedures. A significant difference in quality and substance of the output, with and without the use of the framework, suggests that an integrated framework is a useful tool for an ecosystem-based approach to natural resource management and socio-technical conservation.
Centaurea maculosa Lam. is a noxious weed in western North America that produces a phytotoxin, (+/-)-catechin, which is thought to contribute to its invasiveness. Areas invaded by C. maculosa often result in monocultu...
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Centaurea maculosa Lam. is a noxious weed in western North America that produces a phytotoxin, (+/-)-catechin, which is thought to contribute to its invasiveness. Areas invaded by C. maculosa often result in monocultures of the weed, however;in some areas, North American natives stand their ground against C. maculosa and show varying degrees of resistance to its phytotoxin. Two of these resistant native species, Lupinus sericeus Pursh and Gaillardia grandoora Van Houtte, were found to secrete increased amounts of oxalate in response to catechin exposure. Mechanistically, we found that oxalate works exogenously by blocking generation of reactive oxygen species in susceptible plants and reducing oxidative damage generated in response to catechin. Furthermore, field experiments show that L. sericelis indirectly facilitates native grasses in grasslands invaded by C. maculosa, and this facilitation can be correlated with the presence of oxalate in soil. Addition of exogenous oxalate to native grasses and Arabidopsis thaliana (L.) Heynh grown in vitro alleviated the phytotoxic effects of catechin, supporting the field experiments and suggesting that root-secreted oxalate may also act as a chemical facilitator for plant species that do not secrete the compound.
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