Relevant bibliographies by topics / Grasp point

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Grasp point'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Grasp point"

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ten Pas, Andreas, Marcus Gualtieri, Kate Saenko, and Robert Platt. "Grasp Pose Detection in Point Clouds." International Journal of Robotics Research 36, no. 13-14 (October 30, 2017): 1455–73. http://dx.doi.org/10.1177/0278364917735594.

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Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception analogously to object detection in computer vision. These methods take as input a noisy and partially occluded RGBD image or point cloud and produce as output pose estimates of viable grasps, without assuming a known CAD model of the object. Although these methods generalize grasp knowledge to new objects well, they have not yet been demonstrated to be reliable enough for wide use. Many grasp detection methods achieve grasp success rates (grasp successes as a fraction of the total number of grasp attempts) between 75% and 95% for novel objects presented in isolation or in light clutter. Not only are these success rates too low for practical grasping applications, but the light clutter scenarios that are evaluated often do not reflect the realities of real-world grasping. This paper proposes a number of innovations that together result in an improvement in grasp detection performance. The specific improvement in performance due to each of our contributions is quantitatively measured either in simulation or on robotic hardware. Ultimately, we report a series of robotic experiments that average a 93% end-to-end grasp success rate for novel objects presented in dense clutter.
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Zapata-Impata, Brayan S., Pablo Gil, Jorge Pomares, and Fernando Torres. "Fast geometry-based computation of grasping points on three-dimensional point clouds." International Journal of Advanced Robotic Systems 16, no. 1 (January 1, 2019): 172988141983184. http://dx.doi.org/10.1177/1729881419831846.

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Industrial and service robots deal with the complex task of grasping objects that have different shapes and which are seen from diverse points of view. In order to autonomously perform grasps, the robot must calculate where to place its robotic hand to ensure that the grasp is stable. We propose a method to find the best pair of grasping points given a three-dimensional point cloud with the partial view of an unknown object. We use a set of straightforward geometric rules to explore the cloud and propose grasping points on the surface of the object. We then adapt the pair of contacts to a multi-fingered hand used in experimentation. We prove that, after performing 500 grasps of different objects, our approach is fast, taking an average of 17.5 ms to propose contacts, while attaining a grasp success rate of 85.5%. Moreover, the method is sufficiently flexible and stable to work with objects in changing environments, such as those confronted by industrial or service robots.
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Kleinholdermann, U., V. H. Franz, and K. R. Gegenfurtner. "Human grasp point selection." Journal of Vision 13, no. 8 (July 25, 2013): 23. http://dx.doi.org/10.1167/13.8.23.

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Pollick, F. E., and J. S. Tittle. "Grasping Stereo and Texture Cue Combinations." Perception 25, no. 1_suppl (August 1996): 121. http://dx.doi.org/10.1068/v96p0205.

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Studies of grasp indicate that the reach-to-grasp movement is essentially preprogrammed and relies heavily on estimates of object geometry provided by vision. Moreover, computational analyses of two-point grasps suggest that the identification of pairs of grasp points requires extensive computation of surface geometry. Thus, one can view subjects' decisions of how to obtain a stable two-point grasp as a good indicator of the perceptuo-motor system's appreciation of surface structure. We probe this perceptuo-motor surface representation by examining grasps to ellipsoidal surfaces defined by the cues of texture and horizontal disparity under independent levels of noise added to both texture and stereo. Subjects viewed the sequential presentation of left and right images on a computer display through liquid-crystal shutter glasses and were instructed to perform either an overhand or underhand grasp to the presented virtual ellipsoid. The virtual ellipsoid was oriented with its long axis in the horizontal plane. Rotation in depth about a vertical axis was varied between trials by a staircase procedure, which obtained the orientation at which overhand and underhand grasps were equally likely as well as the differential threshold. Results showed that the differential thresholds were a few degrees for the zero noise condition and increased with the addition of noise. These results are discussed in terms of theories of cue combination and perception for action.
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Wang, Xiaoman, Xin Jiang, Jie Zhao, Shengfan Wang, Tao Yang, and Yunhui Liu. "Picking Towels in Point Clouds." Sensors 19, no. 3 (February 10, 2019): 713. http://dx.doi.org/10.3390/s19030713.

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Picking clothing has always been a great challenge in laundry or textile industry automation, especially when some clothes are of the same colors, material and entangled with each other. In order to solve the problem, we present a grasp pose determination method to pick towels placed in a laundry basket or on a table. In our method, it is not needed to segment towels into independent items and the target towels are not necessarily distinguishable in color. The proposed algorithm firstly segments point clouds into several convex wrinkles, and then selects the appropriate grasp point on the candidate convex wrinkle. Moreover, we plan the grasp orientation with respect to the wrinkle which can effectively reduce the grasp failure caused by the inappropriate grasp direction. We evaluate our method on picking white towels and square towels, respectively, and achieved an average success rate of about 80%.
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Kanoulas, Dimitrios, Jinoh Lee, Darwin G. Caldwell, and Nikos G. Tsagarakis. "Visual Grasp Affordance Localization in Point Clouds Using Curved Contact Patches." International Journal of Humanoid Robotics 14, no. 01 (March 2017): 1650028. http://dx.doi.org/10.1142/s0219843616500286.

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Detecting affordances on objects is one of the main open problems in robotic manipulation. This paper presents a new method to represent and localize grasp affordances as bounded curved contact patches (paraboloids) of the size of the robotic hand. In particular, given a three-dimensional (3D) point cloud from a range sensor, a set of potential grasps is localized on a detected object by a fast contact patch fitting and validation process. For the object detection, three standard methods from the literature are used and compared. The potential grasps on the object are then refined to a single affordance using their shape (size and curvature) and pose (reachability and minimum torque effort) properties, with respect to the robot and the manipulation task. We apply the proposed method to a circular valve turning task, verifying the ability to accurately and rapidly localize grasp affordances, under significant uncertainty in the environment. We experimentally validate the method with the humanoid robot COMAN on 10 circular control valves fixed on a wall, from five different viewpoints and robot poses for each valve. We compare the reliability of the introduced local grasp affordances method to the baseline that relies only on object detection, illustrating the superiority of ours for the valve turning task.
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Funahashi, Yasuyuki, and Masahiro Tate. "Contact Point Identification in Enveloping Grasp." Transactions of the Japan Society of Mechanical Engineers Series C 61, no. 583 (1995): 1015–20. http://dx.doi.org/10.1299/kikaic.61.1015.

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Watcharawisetkul, Watcharapol, Mana Borwornpadungkitti, Nattee Niparnan, and Attawith Sudsang. "A Randomized Approach in Identifying High Quality Force Closure Grasp from Contact Points in Real Time." Applied Mechanics and Materials 781 (August 2015): 483–86. http://dx.doi.org/10.4028/www.scientific.net/amm.781.483.

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We proposed a randomized algorithm that can effectively identify a large number of high quality force closure grasps in short time. This task is very important when we consider grasping in real time where a large number of force closure grasps are needed as a candidate for planning in higher level. The key idea of our method is that a concurrent grasp is usually a high quality grasp and a concurrent grasp can be quickly identified by providing heuristic in choosing a concurrent point. A comparison of our method with other methods was performed and the result indicates that our method outperforms other methods.
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Schwan, Constanze, and Wolfram Schenck. "A three-step model for the detection of stable grasp points with machine learning." Integrated Computer-Aided Engineering 28, no. 4 (August 27, 2021): 349–67. http://dx.doi.org/10.3233/ica-210659.

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Robotic grasping in dynamic environments is still one of the main challenges in automation tasks. Advances in deep learning methods and computational power suggest that the problem of robotic grasping can be solved by using a huge amount of training data and deep networks. Despite these huge accomplishments, the acceptance and usage in real-world scenarios is still limited. This is mainly due to the fact that the collection of the training data is expensive, and that the trained network is a black box. While the collection of the training data can sometimes be facilitated by carrying it out in simulation, the trained networks, however, remain a black box. In this study, a three-step model is presented that profits both from the advantages of using a simulation approach and deep neural networks to identify and evaluate grasp points. In addition, it even offers an explanation for failed grasp attempts. The first step is to find all grasp points where the gripper can be lowered onto the table without colliding with the object. The second step is to determine, for the grasp points and gripper parameters from the first step, how the object moves while the gripper is closed. Finally, in the third step, for all grasp points from the second step, it is predicted whether the object slips out of the gripper during lifting. By this simplification, it is possible to understand for each grasp point why it is stable and – just as important – why others are unstable or not feasible. All of the models employed in each of the three steps and the resulting Overall Model are evaluated. The predicted grasp points from the Overall Model are compared to the grasp points determined analytically by a force-closure algorithm, to validate the stability of the predicted grasps.
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Kopicki, Marek, Renaud Detry, Maxime Adjigble, Rustam Stolkin, Ales Leonardis, and Jeremy L. Wyatt. "One-shot learning and generation of dexterous grasps for novel objects." International Journal of Robotics Research 35, no. 8 (September 18, 2015): 959–76. http://dx.doi.org/10.1177/0278364915594244.

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This paper presents a method for one-shot learning of dexterous grasps and grasp generation for novel objects. A model of each grasp type is learned from a single kinesthetic demonstration and several types are taught. These models are used to select and generate grasps for unfamiliar objects. Both the learning and generation stages use an incomplete point cloud from a depth camera, so no prior model of an object shape is used. The learned model is a product of experts, in which experts are of two types. The first type is a contact model and is a density over the pose of a single hand link relative to the local object surface. The second type is the hand-configuration model and is a density over the whole-hand configuration. Grasp generation for an unfamiliar object optimizes the product of these two model types, generating thousands of grasp candidates in under 30 seconds. The method is robust to incomplete data at both training and testing stages. When several grasp types are considered the method selects the highest-likelihood grasp across all the types. In an experiment, the training set consisted of five different grasps and the test set of 45 previously unseen objects. The success rate of the first-choice grasp is 84.4% or 77.7% if seven views or a single view of the test object are taken, respectively.
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Dissertations / Theses on the topic "Grasp point"

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Olsson, Fredrik. "Feature Based Learning for Point Cloud Labeling and Grasp Point Detection." Thesis, Linköpings universitet, Datorseende, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-150785.

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Robotic bin picking is the problem of emptying a bin of randomly distributedobjects through a robotic interface. This thesis examines an SVM approach to ex-tract grasping points for a vacuum-type gripper. The SVM is trained on syntheticdata and used to classify the points of a non-synthetic 3D-scanned point cloud aseither graspable or non-graspable. The classified points are then clustered intograspable regions from which the grasping points are extracted. The SVM models and the algorithm as a whole are trained and evaluated againstcubic and cylindrical objects. Separate SVM models are trained for each type ofobject in addition to one model being trained on a dataset containing both typesof objects. It is shown that the performance of the SVM in terms accuracy isdependent on the objects and their geometrical properties. Further, it is shownthat the algorithm is reasonably robust in terms of successfully picking objects,regardless of the scale of the objects.
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Chleborad, Aaron A. "Grasping unknown novel objects from single view using octant analysis." Thesis, Manhattan, Kan. : Kansas State University, 2010. http://hdl.handle.net/2097/4089.

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Khan, Mahmood A. "The geometry of idealised robotic grasps using point contacts." Thesis, University of Salford, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.360399.

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Dorighello, Carareto Natalia Daniele. "Equilibre solide-liquide et point d'éclair de mélanges de corps gras." Thesis, Pau, 2014. http://www.theses.fr/2014PAUU3048.

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L’étude des propriétés physico-chimiques des matières grasses constitue une demande mondiale croissante liée à l’augmentation constante de leur utilisation comme source d'énergie et pour l'alimentation. Une bonne connaissance de leurs propriétés thermophysiques et de leur comportement de phases est nécessaire pour la production, l'utilisation efficace de ces matières grasses et le développement des processus d'extraction au niveau du raffinage et du stockage. Des données d'équilibre solide-liquide peuvent être utilisées pour améliorer les procédés existants, et également pour le développement des nouveaux procédés de séparation. Ainsi, le point d'éclair est une propriété importante qui doit être observée pendant le stockage, le transport et la production de composés inflammables, tels que le biodiesel. Ce travail vise à étudier l'équilibre solide-liquide de mélanges binaires constitués d'alcools gras, d’acides gras et d’esters éthyliques. Il porte aussi sur l'évaluation du point d’éclair de mélanges d'esters éthyliques, constituants majoritaires du biodiesel, et de l'éthanol, présent à des niveaux résiduels dans le biodiesel. Les points d’éclair des esters éthyliques mais également des mélanges binaires d'esters éthyliques et d’éthanol, ont été déterminés expérimentalement. Un modèle empirique de prédiction des points d’éclair des biodiesels en fonction de leur composition et de leur teneur en éthanol a été proposé. Les diagrammes de phases solide-liquide des mélanges binaires d'alcool gras + alcool gras ou d’alcools gras + acide gras ont été déterminés expérimentalement par analyse calorimétrique différentielle (DSC). Cette étude permet de caractériser les réactions eutectique, péritectique et métatectique, en utilisant une vitesse de chauffe linéaire ou une méthode de Stepscan DSC. Des mesures de diffraction rayons X et de microscopie optique de contrôle de la température ont été appliquées pour compléter la compréhension des diagrammes de phases. L'effet de la pression sur l'équilibre solide-liquide a aussi été mesuré pour les mélanges binaires d’esters éthyliques ou d'alcools gras en utilisant un microscope optique couplé à une cellule à haute pression qui permet d’augmenter la pression jusqu'à 80 MPa sur une large gamme de température. Les modèles thermodynamiques Margules 2 et 3-suffix et NRTL ont été utilisés pour décrire la ligne du liquidus des systèmes présentant un point péritectique, alors qu’un modèle thermodynamique prédictif a permis de modéliser l'ESL en fonction de la pression. Dans les deux cas, on a observé un ajustement satisfaisant par rapport aux données expérimentales
The study on the physicochemical properties of fatty materials has acquired a growing importance, mainly due to the incentive of their use in energy and nutrition. The efficient production and use of fatty compounds requires a good knowledge of their properties and phase behavior that are necessary for development of processes, especially in production steps such as extraction and refining, but also during storage of the final products. Solid-liquid equilibrium data can be used to improve or propose new separation processes. Also the flash point is an important property that must be considered during storage, transportation and production of flammable compounds, such as biodiesel. This work aimed to study the solid-liquid equilibrium of binary mixtures consisting of fatty alcohols, fatty esters or fatty acids, and to evaluate the flash point of mixtures of ethyl esters, the major constituents of biodiesels, and ethanol, also present in biodiesel in residual levels. Flash points of ethyl esters, and also of the binary mixtures of ethyl esters with ethanol were determined experimentally. An empirical model for predicting the flash point of biodiesels as a function of composition and ethanol content was proposed. The solid-liquid phase diagrams of binary mixtures of fatty alcohol + fatty alcohol or fatty alcohols + fatty acid were determined experimentally by differential scanning calorimetry (DSC), using a linear heating rate, or by a stepscan DSC method, with the aim of investigating the occurrence of the eutectic, peritectic and metatectic reactions. X-ray diffraction and optical microscopy with temperature control techniques were applied to complement the understanding of the phase diagrams. The effect of pressure on the solid-liquid equilibrium was investigated for the binary mixtures of ethyl esters or fatty alcohols using an optical microscope coupled to a high pressure cell which allows the pressure increase up to 80 MPa. Margules 2 and 3-suffix and NRTL thermodynamic models were used for describing the liquidus line of the systems that presented peritectic point, and a predictive thermodynamic model was used to model the ESL function of pressure, which in both cases, gave a satisfactory fit compared to the experimental data
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Astre, Vanessa. "Mise au point d'une solution rectale thermogélifiante et bioadhésive contenant des acides gras à chaîne courte." Paris 5, 1998. http://www.theses.fr/1998PA05P075.

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Serres, Véronique. "Les acides gras polyinsaturés : analyse paramétrique et mise au point d'une unité pilote de séparation." Toulouse, INPT, 1993. http://www.theses.fr/1993INPT060G.

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Le travail porte sur la conception d'un pilote de separation d'esters d'acides gras polyinsatures. Le procede consiste a deposer en tete d'une colonne chromatographique de resine macroporeuse echangeuse d'ions sulfonique a huit pour cent de divinylbenzene sous forme argent les esters d'acides gras qui, selon leur degre d'insaturation, formeront avec l'argent des complexes plus ou moins stables. L'elution successive de differents solvants methanol pour les esters satures et mono-insatures, ethanol pour les di-insatures, ethanol/acetonitrile pour les tri-insatures permet de recuperer des fractions de purete tres elevee. Dans la premiere partie, une etude bibliographique a permis de situer l'interet des acides et esters d'acides gras, leur obtention ainsi que leur separation analytique et preparative. Un interet particulier est accorde a la separation chromatographique de ces molecules sur colonne. La deuxieme partie est consacree a l'optimisation a l'echelle du laboratoire des principaux parametres de la separation, a savoir le debit d'elution et la quantite d'esters deposes. Dans la troisieme partie sont enfin presentes des essais en reacteur qui ont permis une meilleure comprehension des phenomenes d'adsorption et de desorption des esters vis-a-vis de la resine. Les essais realises sur l'unite destinee a la production d'esters d'acides gras polyinsatures purs, notamment les linoleate et linolenate de methyle, sont egalement consignes dans cette partie
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Iba, Naïma. "Les esters d'acides gras polyinsaturés d'Isatis tinctoria (pastel) : mise au point d'une technique de séparation : généralisation à différentes huiles insaturées." Toulouse, INPT, 1990. http://www.theses.fr/1990INPT023G.

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La mise au point d'une technique de separation des esters methyliques d'acides gras polyinsatures issus de l'huile de pastel, sur des resines echangeuses d'ions sous forme ag#+ en presence de differents solvants comme eluants, fait l'objet du present travail. Apres une approche bibliographique sur le role biologique des acides gras polyinsatures, l'etude de l'extraction et de la neutralisation de l'huile par esterification in situ des acides gras libres en presence de resines echangeuses d'ions et du methanol anhydre, suivie de la transesterification a montre que l'huile de pastel peut constituer un melange modele d'esters d'acides gras polyinsatures. La separation de ces derniers sur plusieurs resines echangeuses d'ions utilisees comme support chromatographique a ete etudiee. Les comportements de differents solvants eluants: methanol, ethanol, forane 113 et hexane, mis en uvre dans cette etude, ainsi que l'influence de certains parametres (granulometrie, taux d'hydratation, etc. . . ) pouvant influencer la separation sont decrits. Cette technique originale de separation mise au point par les esters d'acides gras issus de l'huile de pastel, est generalisee a d'autres huiles insaturees comme l'huile d'oenothera biennis et de borrago officinalis connues actuellement pour leur richesse en acide -linolenique puis sur l'huile de sisymbrium irio pour sa teneur en acide -linolenique. La fin de cette etude porte sur une premiere approche de la separation des esters d'acides gras polyinsatures a plus grande echelle
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Haidacher, Steffen. "Contact point and object position from force-torque and position sensors for grasps with a dextrous robotic hand." [S.l. : s.n.], 2004. http://deposit.ddb.de/cgi-bin/dokserv?idn=972223711.

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Vo, Duy Sung. "Mise au point de méthodes analytiques pour la caractérisation de la matière organique constituante d'objets du patrimoine culturel." Paris 11, 2007. http://www.theses.fr/2007PA112018.

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Ce travail de thèse a consisté à mettre au point une méthodologie permettant de caractériser les substances naturelles organiques présentes dans les objets du patrimoine culturel, à l’aide du couplage CPG/SM, bien adapté à l’analyse de mélanges complexes disponibles en faibles quantités. Nous nous sommes particulièrement intéressés à la caractérisation des gommes, gommes-résines, résines, huiles, graisses et cires, et des polyphénols (laques asiatiques). Ces substances renferment des composés présentant des caractéristiques physico-chimiques très différentes et nous avons évalué l’intérêt de plusieurs techniques de préparation de l’échantillon pour les mettre en évidence : la SPME pour les composés volatils, la dérivation (méthylation ou silylation) pour les composés semi-volatils et des méthodes de dépolymérisation ou de coupure comme la méthanolyse (acide ou basique) et la pyrolyse pour les polysaccharides, les polyphénols et les triglycérides. Pour certaines classes de composés importants comme les acides gras insaturés, des réactions de dérivation spécifiques (DMOX) ont également été utilisées afin d’obtenir des spectres de masse IE permettant de différencier les isomères de position. Dans chaque cas de figure, les méthodes de séparation chromatographique ont été optimisées pour obtenir le maximum d’informations. Les différentes méthodes ont d’abord été mises au point à l’aide de substances naturelles de référence représentatives. Elles ont ensuite été appliquées à l’analyse de prélèvements provenant de trois types d’objets : les écorchés de Fragonard, des polychromies portugaises du XVIIème siècle, des objets laqués d’extrême orient anciens ou modernes
The aim of this thesis was to develop an analytical procedure for the characterization of organic materials present in objects from the Cultural Heritage. Gas chromatography-mass spectrometry (GC/MS), well adapted to the analysis of complex mixtures available in small amounts, is the appropriate technique for this purpose. The work was focused on the characterization of gums, gum-resins, resins, oils, fats, wax and polyphenols (coming from oriental lacquers). Theses substances contain compounds with very different physicochemical properties which require different sample preparation strategies: SPME to extract volatile analytes, derivatisation (methylation or silylation) to improve the detection of semi-volatile compounds and depolymerisation or cutting methods like methanolysis (acidic or basic) and pyrolysis to analyse polysaccharides, polyphenols and triglycerides. For some classes of important compounds like unsaturated fatty acid, specific derivatives (DMOX) were prepared in order to obtain characteristic EI mass spectra and differentiate the positional isomers. In each case, the chromatographic separation method was optimised in order to obtain maximum information. The different methods have first been developed with representative natural reference substances. They were then applied to the analysis of samples coming from anatomical models of Fragonard, Portuguese polychrome sculptures of the 17th century and ancient or modern oriental lacquer objects
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Calderone, Marylin. "Etude de la microencapsulation de particules fines par fluide supercritique : mise au point, validation et compréhension phénoménologique d'un nouveau procédé." Paris, ENMP, 2005. http://www.theses.fr/2005ENMP1358.

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Enjeux : La microencapsulation est une technique utilisée dans l’industrie pharmaceutique pour un masquage de goût, une protection de principe actif des conditions externes, pour l’insérer dans une formulation ; elle permet également une protection ciblée ou retardée, ou l’amélioration des propriétés d’usage d’une poudre. Technologies mises en oeuvre : La thèse présentée s’est articulée autour de la mise en application des procédés d’enrobage en utilisant des procédés basés sur les fluides supercritiques. L’enrobant choisi est un corps gras. L’enrobé a d’abord été des billes de verre micrométriques puis un principe actif. La caractérisation des microparticules enrobées a été réalisée aux rayons X, par méthodes calorimétriques, par spectrophotométrie IR et UV, et enfin par des photographies au microscope électronique. La thèse a aussi permis une réflexion sur la phénoménologie associée au procédé mis en oeuvre. Cette réflexion repose sur un bilan thermodynamique complet du procédé puis, à partir de ce bilan, la simulation numérique des températures atteintes en fin de procédé. L’autre partie de compréhension du procédé est la mesure puis la modélisation des équilibres de phases sous hautes pressions du système CO2/enrobant. Positionnement du sujet : Les techniques traditionnelles de microencapsulation font appel, pour la plupart, à des solvants organiques. Outre les problèmes liés au respect des normes, l’usage de solvants nécessite des étapes supplémentaires de séparation solide liquide ou de séchage des particules. De plus, peu de ces procédés sont adaptés pour l’enrobage de particules de taille inférieure à 50 micromètres. De ces divers constats, s’est fait sentir le besoin de développer de nouvelles voies d’enrobage de préférence sans solvants organiques et adaptées à des particules de taille inférieure à 50 ?m. Les fluides supercritiques sont aujourd’hui connus pour offrir des alternatives en termes de procédés de génération de poudres. Ils permettent notamment d’envisager des procédés propres, soit sans utilisation de solvants organiques.
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Books on the topic "Grasp point"

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Prison of grass: Canada from a native point of view. Saskatoon, Sask: Fifth House Publishers, 1989.

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Harris, James A. Hume and the Common Sense Philosophers. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198783909.003.0008.

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Hume anticipated the principal objection that the Scottish common sense philosophers would have to his scepticism. In An Enquiry concerning Human Understanding he sought to make it clear that the scepticism of the Treatise was not conceived of as a scepticism that would affect everyday life. It was not a scepticism that would destabilize moral and other practical beliefs. The common sense philosophers misrepresented Hume’s scepticism insofar as they failed to grasp this point, and therefore failed to grasp the crucial difference between Hume’s scepticism and ancient scepticism. Despite this misunderstanding on their part, common sense philosophers like Campbell and Reid were taken seriously by Hume. The fact that he did not respond in detail to their criticisms is not evidence that he thought them philosophically incompetent.
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Mercati, Flavio. Barbour–Bertotti Best Matching. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198789475.003.0004.

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Barbour and Bertotti’s Mach–Poincaré Principle can be realized in classical mechanics with a mathematical procedure which was beyond the grasp of Leibniz or Newton, and turns out to be equivalent to modern gauge theory. This is the formulation of a variational principle based on ‘best matching’: one transforms subsequent configurations of the system with the Euclidean group, and by minimizing a certain functional a notion of ‘equilocality’ is established: now it makes sense to say that a particle comes back to the same point at different times.
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Hutchinson, G. O. Cornelia Blames Herself (Pompey 74.5–75.2). Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198821717.003.0016.

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After another major battle, that of Pharsalus, the response of husband and wife is compared: the defeated Pompey and his wife Cornelia. The wife’s speech is more emotional and more densely rhythmic; the husband is in a sense philosophical, but in fact fails to grasp political and philosophical reality, as he blithely ignores entropy. Rhythm helps to point up his error. The characters are compared; they also have ideas of their own biography. It is likely that Plutarch is reshaping and developing a moment in Livy; his development of Livy can be compared with Lucan’s. Homer is also probably an important intertext for both Plutarch and Lucan, in his presentation of marriage and of people’s narrative conception of their own lives.
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Ludlow, Peter. Tense. Edited by Ernest Lepore and Barry C. Smith. Oxford University Press, 2009. http://dx.doi.org/10.1093/oxfordhb/9780199552238.003.0028.

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While most approaches to the semantics of tense have attempted to regiment tense away in a tenseless metalanguage, a good case can be made that this is not without cost (the same case could be made for regimentation of modality and other aspects of natural language as well). On the other hand, it is pretty clear that attempts to treat tense in a tensed metalanguage introduce serious complications. It is probably not so important which of these positions is correct at this point (we may be some distance from resolving that question), as it is that we understand the costs of the respective positions. Perhaps, by having a firm enough grasp on both approaches we afford ourselves a deeper insight into the nature of tense itself.
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Schnell, Alexander. Phenomenology and German Idealism. Edited by Dan Zahavi. Oxford University Press, 2018. http://dx.doi.org/10.1093/oxfordhb/9780198755340.013.4.

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The thesis of this chapter consists in putting forward the idea that, from the point of view of their speculative foundation, the works of the founding fathers of phenomenology (Husserl and Heidegger) admit of a unity, the nature of which is clarified by certain crucial contributions from German idealism. The perspective that the author is concerned to develop consists in attempting to show that, if phenomenology is understood as a transcendental philosophy, then to grasp its meaning, recourse to German idealism is unavoidable. To this end, the author examines the two “fundamental bases,” which amount to an epistemological and an ontological perspective; and he sketches how, from a perspective that draws “metaphysical” conclusions from these phenomenological analyses, these two parts can be understood as belonging to a single project. The essential objective will thus consist in showing how the concept of the transcendental in phenomenology relies on classical transcendental idealisms.
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Dean, Roger T., and Alex McLean, eds. The Oxford Handbook of Algorithmic Music. Oxford University Press, 2018. http://dx.doi.org/10.1093/oxfordhb/9780190226992.001.0001.

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Algorithmic music appears to be at a turning point in its history, with many new systems and communities of practice developing together, as vibrant musical culture. This handbook brings together dozens of leading researchers and practitioners in the field, blending technical, artistic, cultural and scientific viewpoints into a whole that considers the making of algorithmic music as a rich, and essentially human activity. The book is organised into four sections, the first grounding the topic in the history, philosophy and psychology of algorithmic music. The second section asks 'what can algorithms in music do?', finding answers in computer science, mathematics, machine learning, bio-inspired computation, manipulation of pattern, computational creativity, and live coding. The third section focuses on the music maker, and the role of algorithms in supporting network music, sonification, music interface design, music in computer games, and spatialisation. The final section opens out to culture at large, and considers algorithmic music in terms of its audience reception, sociology, education, politics and the potential for mass consumption. Perhaps just as importantly, these sections are interleaved with reflective pieces from leading practitioners in the field, allowing us to to grasp the pragmatics of making music with algorithms. Combined, these diverse standpoints provide an absorbing, authoritative survey of research and practice from across the algorithmic music field.
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Albarella, Umberto, Mauro Rizzetto, Hannah Russ, Kim Vickers, and Sarah Viner-Daniels, eds. The Oxford Handbook of Zooarchaeology. Oxford University Press, 2017. http://dx.doi.org/10.1093/oxfordhb/9780199686476.001.0001.

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This book presents a survey of world archaeology, from the point of view of animal remain studies. It can be considered as a showcase for world zooarchaeology. Forty-eight chapters written by researchers from twenty-five countries discuss archaeological investigations in five different continents. The geographic range covers the Arctic as well as the Tropics, islands and continental land masses, marine shores, forests, hills, and mountains. Human interactions with many different creatures—ranging from mammals to birds, fishes, and molluscs—are discussed, and in a great variety of ecological and cultural contexts. Methodological approaches are also diverse, as they are chosen according to the themes and research questions discussed in individual chapters. The full range of zooarchaeological methods is on display, but also integration with evidence deriving from sister disciplines, such as history, ethnography, zoology, palaeontology, and biochemistry. A methodological glossary helps the reader, particularly the non-specialist, to get a grasp of the multitude of methodological approaches presented in the book. Most aspects of human–animal relationships—from hunting to husbandry, herding, and fishing, as well as the use of animals in ritual and social contexts—are discussed in one or more chapters, also covering all the greatest human civilizations. As a whole, these investigations authoritatively show the essential role that animals have played in human history. The book is the result of an ambitious project, never previously attempted at such scale; it aims to affirm the centrality of zooarchaeology in our investigation of past humanities.
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Goswami, Namrata. The Naga Ethnic Movement for a Separate Homeland. Oxford University Press, 2020. http://dx.doi.org/10.1093/oso/9780190121174.001.0001.

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This book offers a compelling ground-based narrative of the Naga armed ethnic movement ongoing since 1918 for a separate independent homeland in Northeast India. Based on my nearly nine years of studying the conflict and my extensive fieldwork in the area, I offer a gripping and unique narrative of how the Naga armed conflict has affected lives on a daily basis. The book offer stories from people who have thought about the conflict, being born into it, taken part in it, or have been directly or indirectly affected by it. It includes glimpses about their love for their land, the poignant mix of identity, politics, emotions, culture as well as the very real inter-ethnic differences that fuel the conflict. The book explains how the Naga population perceives their meeting point with the institutions of the Indian state in the midst of a conflict zone, especially the army and the paramilitary. It documents what it feels like to live in a conflict zone and the restrains and/or constrains that it cultivates in people, especially those young. I write for the reader, stories of immense courage and conviction that I have encountered as I travelled through the Northeast in the last nine years as well as from decades spent, growing up in Haflong, Assam. These stories are poignant yet joyful, sometimes melancholy, sometimes full of aspirations for the future. These complex stories, when woven together, offers a captivating narrative to get a better grasp of life in these Naga-inhabited areas of India and Burma.
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Callard, Agnes. Aspiration. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780190639488.001.0001.

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Becoming someone is a learning process; and what we learn are the new values around which, if we succeed, our lives will come to turn. Agents transform themselves in the process of, e.g., becoming parents, embarking on careers, or acquiring a passion for music or politics. How can such activity be rational if the reason for engaging in the relevant pursuit is available only to the person one will become? How is it psychologically possible to feel the attraction of a form of concern that is not yet one’s own? How can the work done to arrive at the finish line be ascribed to one who doesn’t (really) know what she is doing or why she is doing it? These questions belong to the theory of aspiration. Aspirants are motivated by proleptic reasons, reasons they acknowledge to be defective versions of the reasons they expect to eventually grasp. The psychology of such a transformation is marked by intrinsic conflict between aspirants’ old point of view on value and the one they are trying to acquire. They cannot adjudicate this conflict by deliberating or choosing or deciding—rather, they resolve it by working to see the world in a new way. This work has a teleological structure: by modeling herself on the person she is trying to be, the aspirant brings that person into being. Because it is open to us to engage in an activity of self-creation, we are responsible for having become the kinds of people we are.
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Book chapters on the topic "Grasp point"

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Rama Krishna, K., J. S. Vipin, and Dibakar Sen. "Two-Point Grasp Response." In Lecture Notes in Mechanical Engineering, 795–805. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-8597-0_68.

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Schwan, Constanze, and Wolfram Schenck. "Visual Movement Prediction for Stable Grasp Point Detection." In Proceedings of the 21st EANN (Engineering Applications of Neural Networks) 2020 Conference, 70–81. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-48791-1_5.

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Pas, Andreas ten, and Robert Platt. "Localizing Handle-Like Grasp Affordances in 3D Point Clouds." In Experimental Robotics, 623–38. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23778-7_41.

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Das, Abhijit, and Sankha Deb. "Recognition of Force Closed Point Grasp for 2D Object." In Lecture Notes in Mechanical Engineering, 357–65. New Delhi: Springer India, 2016. http://dx.doi.org/10.1007/978-81-322-2740-3_34.

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ten Pas, Andreas, and Robert Platt. "Using Geometry to Detect Grasp Poses in 3D Point Clouds." In Springer Proceedings in Advanced Robotics, 307–24. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-51532-8_19.

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Tang, Qirong, Lou Zhong, Zheng Zhou, Wenfeng Zhu, and Zhugang Chu. "Primitive Shape Recognition Based on Local Point Cloud for Object Grasp." In Lecture Notes in Computer Science, 85–91. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-78811-7_8.

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Sadownik, Alicja R. "Princesses (Don’t) Run in the Mud: Tracing the Child’s Perspective in Parental Perceptions of Cultural Formation Through Outdoor Activities in Norwegian ECEs." In International Perspectives on Early Childhood Education and Development, 61–78. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-72595-2_4.

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AbstractBy examining Polish parents’ perceptions of outdoor activities in Norwegian Early Childhood Education (ECE), this chapter discusses how focusing on the child’s perspective can change and challenge parental gender-related value positions, thereby changing perceptions of the cultural formation taking place through outdoor activities. The empirical data on the basis of which this question is answered are comprised of group interviews with 30 Polish migrant parents (18 mothers and 12 fathers) whose children were in Norwegian ECEs. The applied theoretical toolkit of a cultural historical wholeness approach (Hedegaard M, Mind Cult Act 19:127–138, 2012) enables the description of (parental) experiences of cultural formation through outdoor activities as anchored in the value positions established within and across involved societies. It also allows us to grasp those moments when the focus on the child’s perspective in outdoor activities challenges parental value positions and cultural traditions of heteronormativity. The concluding remarks point to the importance of enhancing both the child’s perspective and the specific plane of interpersonal interactions in ECE collaborations with parents and caregivers.
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Martínez, Luz María, and Javier Ruiz-del-Solar. "Recognition of Grasp Points for Clothes Manipulation Under Unconstrained Conditions." In RoboCup 2017: Robot World Cup XXI, 350–62. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00308-1_29.

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Wiecko, G. "Sports turf." In Fundamentals of tropical turf management, 145–54. Wallingford: CABI, 2006. http://dx.doi.org/10.1079/9781845930301.0145.

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Abstract This chapter presents some of the sports played on turf (rugby, football, hockey, lawn bowling, grass croquet and tennis), explains some principles of sports-field construction, and point out ways in which their management differs from that of other turf areas.
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Hernandez, Ariel Macaspac. "Lessons for Theory: A Conceptual Framework of Transformative Pathways." In Taming the Big Green Elephant, 269–87. Wiesbaden: Springer Fachmedien Wiesbaden, 2020. http://dx.doi.org/10.1007/978-3-658-31821-5_13.

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AbstractA major objective of this book is to provide theoretical and practical knowledge on how sustainable, low-carbon transformation can be facilitated. As a creative and a rational process, transformation can be managed. However, the management of transformation necessitates an integrative and process-oriented outlook to grasp the various issues, dynamics, causalities, associative relations, lock-ins, critical junctures, tipping points, interactions, behavior, and analytical levels that drive any transformation process.
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Conference papers on the topic "Grasp point"

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Liang, Hongzhuo, Xiaojian Ma, Shuang Li, Michael Gorner, Song Tang, Bin Fang, Fuchun Sun, and Jianwei Zhang. "PointNetGPD: Detecting Grasp Configurations from Point Sets." In 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8794435.

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Zheng, Yu. "Computing the best grasp in a discrete point set." In 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017. http://dx.doi.org/10.1109/icra.2017.7989253.

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Gori, Ilaria, Ugo Pattacini, Vadim Tikhanoff, and Giorgio Metta. "Three-finger precision grasp on incomplete 3D point clouds." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6907648.

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Cloutier, Aimee, and James Yang. "Force Optimization Approaches for Common Anthropomorphic Grasps." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-60346.

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A smart choice of contact forces between robotic grasping devices and objects is important for achieving a balanced grasp. Too little applied force may cause an object to slip or be dropped, and too much applied force may cause damage to delicate objects. Prior methods of grasping force optimization in literature have mostly assumed grasp only at the fingertips but have rarely considered how the whole hand grasps more common to anthropomorphic hands affect the optimization of grasping forces. Further, although numerical examples of grasping force optimization methods are routinely provided, it is often difficult to compare the performance of separate methods when they are evaluated using different parameters, such as the type of grasping device, the object grasped, and the contact model, among other factors. This paper presents three optimization approaches (linear, nonlinear, and nonlinear with linear matrix inequality (LMI) friction constraints) which are compared for an anthropomorphic hand. Numerical examples are provided for three types of grasp commonly performed by the human hand (cylindrical grasp, tip grasp, and tripod grasp) using both soft finger contact and point contact with friction models. Contact points between the hand and the object are predetermined. Results are compared based on their accuracy, computational efficiency, and other various benefits and drawbacks unique to each method. Future work will extend the problem of grasping force optimization to include consideration for variable forces and object manipulation.
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Varadarajan, Karthik, Ishaan Gupta, and Markus Vincze. "Grasp hypothesis generation for parametric object 3D point cloud models." In 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011). IEEE, 2011. http://dx.doi.org/10.1109/urai.2011.6172974.

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Li, Qiang, Robert Haschke, Bram Bolder, and Helge Ritter. "Grasp point optimization by online exploration of unknown object surface." In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). IEEE, 2012. http://dx.doi.org/10.1109/humanoids.2012.6651553.

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Mahler, Jeffrey, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio, and Ken Goldberg. "Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics." In Robotics: Science and Systems 2017. Robotics: Science and Systems Foundation, 2017. http://dx.doi.org/10.15607/rss.2017.xiii.058.

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Ruan, Jian, Houde Liu, Anshun Xue, Xueqian Wang, and Bin Liang. "Grasp Quality Evaluation Network for Surface-to-Surface Contacts in Point Clouds." In 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). IEEE, 2020. http://dx.doi.org/10.1109/case48305.2020.9216808.

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Taheritanjani, Sajjad, Juan Haladjian, Thomas Neumaier, Zardosht Hodaie, and Bernd Bruegge. "2D Orientation and Grasp Point Computation for Bin Picking in Overhaul Processes." In 9th International Conference on Pattern Recognition Applications and Methods. SCITEPRESS - Science and Technology Publications, 2020. http://dx.doi.org/10.5220/0008970604930500.

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Santamaria, Jose, Oscar Cordon, Sergio Damas, Rafael Marti, and Ricardo J. Palma. "GRASP & evolutionary path relinking for medical image registration based on point matching." In 2010 IEEE Congress on Evolutionary Computation (CEC). IEEE, 2010. http://dx.doi.org/10.1109/cec.2010.5586071.

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