Le système perceptif d’un chirurgien doit s’adapter aux contraintes multisensorielles liées à la chirurgie guidée par l’image. Trois expériences sont conçues pour explorer ces contraintes visuelles et haptiques pour l’apprentissage guidé par l’image. Les résultats montrent que les sujets sont plus rapides et plus précis avec une vision directe. La stéréoscopie 3D n’améliore pas les performances des débutants complets. En réalité virtuelle, la variation de la longueur, largeur, position et complexité de l'objet affecte les performances motrices. La force de préhension appliquée sur un système robotique chirurgical dépend de l'expérience de l'utilisateur. En conclusion, le temps et la précision sont importants, mais la précision doit rester une priorité pour un apprenti. L'homogénéité des groupes d'étude est important pour la recherche sur la formation chirurgicale. Les résultats ont un impact direct sur le suivi des compétences individuelles pour les applications guidées par l'image. / Perceptual system of a surgeon must adapt to conditions of multisensorial constrains regard to planning, control, and execution of the image-guided surgical operations. Three experimental setups are designed to explore these visual and haptic constraints in the image-guided training. Results show that subjects are faster and more precise with direct vision compared to image guidance. Stereoscopic 3D viewing does not represent a performance advantage for complete beginners. In virtual reality, variation in object length, width, position, and complexity affect the motor performance. Applied grip force on a surgical robot system depends on the user experience level. In conclusion, both time and precision matter critically, but trainee gets as precise as possible before getting faster should be a priority. Study group homogeneity and background play key role in surgical training research. The findings have direct implications for individual skill monitoring for image-guided applications.

L’apparition de la télé-échographie à la fin des années 1990 a largement contribué à l’améliorationdes capacités de prise en charge des patients. Aujourd’hui, le laboratoire PRISME bénéficie d’unsavoir faire reconnu dans la conception de systèmes de télé-échographie robotisée. L’objectif deces travaux de thèse est d’apporter une contribution scientifique et technique au projet ANR-PROSIT,qui vise à la mise en oeuvre d’un robot de télé-échographie innovant. Une étude du geste du praticienen milieu clinique a été menée afin d’en déterminer les caractéristiques cinématiques. Réalisée àl’aide du système de capture de mouvement Vicon Nexus, cette analyse a contribué à l’établissementdes spécifications du futur robot. Sa structure mécanique a fait l’objet d’une attention particulière. Unearchitecture parallèle sphérique a été sélectionnée, étudiée puis optimisée via un algorithmegénétique en fonction des critères d’espace de travail, de dextérité et de compacité. L’architectureainsi obtenue est ensuite analysée sur des aspects de collisions et d’inaccessibilité. Pour le contrôlede ce robot, l’utilisation d’une interface haptique à l’aspect proche d’une sonde d’échographie estproposée. Dotée d’un système de retour d’effort et d’une centrale inertielle fiabilisée par un filtre deKalman adaptatif, cette nouvelle interface a été testée et validée par le système Vicon Nexus. / Since the end of the nineties, the tele-echography has been contributing to improve the taking carecapacities of patients. Today, the PRISME laboratory has a recognized expertise in the design ofrobotic tele-echography systems. The objective of this thesis is to provide scientific and technicalsupport to the ANR-PROSIT project. It aims to design of an innovative tele-echography robot. Anexpert gesture study has been carried out in clinical environment to determine its kinematiccharacteristics. It has been performed using the motion capture system Vicon Nexus and itcontributed to establish the specifications of the future robot. The mechanic structure of this robot hasbeen minutely taken in consideration. The spherical parallel mechanism has been selected, studiedand optimized using a genetic algorithm with respect of criterion such as workspace, dexterity andcompacity. The resulted architecture is then analyzed regarding collisions and inaccessibilityaspects. To control this robot, the use of a haptic device with the same shape of an ultrasound probeis proposed. It provides force feedback and it is instrumented with an inertial measurement unit,processed by an adaptative Kalman filter. This new interface has been tested and validated by ViconNexus system.

As an alternative to existing research which states that the phenomenon of displacement resists theorisation because of its complex nature, this study conducts a Phenomenological examination of the nature of displacement in which the interlinked losses in the key concepts of the consciousness of the displaced, namely Memory, Land and home and Identity, are navigated. It is shown that the current consciousness of society mimics these losses with the effect of displacement being experienced as a state of mind by contemporary society. By comparing selected artworks of artists Rachel Whiteread and Cornelia Parker, it is established that although manifested in diverse ways, contemporary artworks reflect displacement according to a set of broadly defined visual signifiers. The visual documentation of a site of displacement in the North West Province of South Africa and subsequently produced artworks underline these findings and highlight the elusive attributes of loss inherent in the displacement phenomenon. / Art History, Visual Arts and Musicology / M.A. (Visual Arts)

Cette thèse interroge le dialogue théorique et pratique entre les sens et le design. En éclairant les échanges qui s’instaurent entre les sciences contemporaines de la perception et les nouvelles approches sensorielles du design, elle laisse apparaître un paradigme inédit de la création et de la cognition. Elle montre qu’un modèle de design sensible émerge sous l’impulsion de nouveaux modèles cognitivistes de la perception, qui vient transformer les domaines de la création. Les arts plastiques investissent les sens corporels, amplifiés par les technologies ; l’architecture remet en cause la tradition visiocentrée de l’espace, et s’ouvre une conception spatiale de type atmosphérique. À la frontière de ces mouvements, surgit un paradigme du design focalisé sur la relation tangible et multisensorielle entre l’homme et le monde de l’artificiel. Grâce à la réhabilitation des sens pragmatiques, les théories antidualistes de la perception, en conjonction avec les sciences cognitives et les technologies numériques, inspirent la conception d’artefacts orientés vers l’engagement corporel et les relations matérielles. L’obsolescence du modèle des cinq sens permet de revisiter scientifiquement des phénomènes comme les synesthésies, la plasticité perceptive et les correspondances sensorielles. Le dépassement de l’idée de sens entendus comme des organes récepteurs, conduit à considérer les aspects immatériels de la perception, tels que l’expressivité et l’intentionnalité attribuées aux choses. Dans ce contexte, cette thèse explore la manière dont la sensorialité redevient un sujet de recherche et de création. Entre philosophie, psychologie expérimentale et histoire de l’art et du design, elle interroge le modèle rationaliste du design et montre que l’émergence de ce nouveau paradigme est motivée par l’exigence de s’affranchir du modèle industriel guidé par la relation visuelle et fonctionnelle de la forme et des usages. Suivant un cheminement non nécessairement linéaire, la recherche se concentre sur les moments clés et les figures majeures du dialogue entre design moderne et théories des sens, et montre que ce dernier, engagé depuis la Renaissance, n’a cessé d’alimenter les relations entre perception et arts du disegno. / This thesis examines the theoretical and practical dialogue between design and the senses. Shedding light on the exchanges taking place between the contemporary sciences of perception and the new sensorial approaches of design, it reveals a new paradigm of creation and cognition. The thesis puts forward the emergence of a sensitive design model promoted by new cognitivist models of perception, transforming the domains of creation. Magnified by technology, contemporary arts are permeating the bodily senses; while architecture challenges the visually centered tradition of space, and an atmospheric conception of space opens up.Emerging at the marches of these movements is a paradigm of design focused on the tangible, multi-sensorial relationship between the human world and the artificial world. Anti-dualist theories of senses, coupled with cognitive sciences and digital technologies, conceive artifacts that are inclined towards material relationship and involvement of the body, made possible by the rehabilitation of pragmatic senses. Obsolescence of the five senses model allows the scientific rediscovery of several phenomena such as synesthesia, perceptive plasticity and sensorial interactions. Surpassing the notion of senses as mere receptive functions, leads us to examine the immaterial aspects of perception, such as expressiveness and intentionality attributed to things.In this context, this thesis explores how sensoriality becomes once again a subject for research and creation. Overlapping philosophy, experimental psychology, and the history of art and design, it questions the rationalist model of design; it also shows how the need for freedom from the industrial model, as lead by the visual and functional relationship between form and usage, brings about the emergence of a new paradigm.Following a not essentially linear path, the research focuses on key moments, along with the major features of a dialogue between modern design and theories of the senses ; this dialogue, initiated since the Renaissance, never stopped nourishing the relationships between perception and arts of the disegno.

Für den Zugang zu grafischen Benutzungsoberflächen (GUIs) stehen blinden Menschen so genannte Screenreader und Braillezeilen zur Verfügung. Diese ermöglichen zwar das nicht-visuelle Wahrnehmen textueller Inhalte, allerdings kein effektives Arbeiten mit bildlichen Darstellungen. Neuartige taktile Flächendisplays können eine geeignete Lösung für den interaktiven Zugang zu tastbaren Grafiken darstellen und somit die Interaktionsmöglichkeiten blinder Benutzer im Umgang mit grafischen Anwendungen bereichern. Beispielsweise erlauben derartige Geräte nicht nur das Erkunden räumlicher Anordnungen, sondern darüber hinaus auch die kombinierte Ausgabe von Braille, Grafik und semi-grafischen Elementen. Um die deutlich größere Menge an gleichzeitig darstellbaren Informationen beherrschbar zu machen, sind neben entsprechenden Inhaltsaufbereitungen und Navigationsmechanismen auch geeignete Orientierungshilfen bereitzustellen. Im Rahmen der vorliegenden Arbeit wurde am Beispiel der BrailleDis Geräte der Metec AG, welche eine taktile Ausgabefläche von 120 mal 60 Stiften bereitstellen, untersucht, inwieweit flächige Brailledisplays blinden Menschen eine effektive und effiziente Bedienung grafischer Benutzungsoberflächen ermöglichen. Neben dem Zugang zur GUI selbst sowie dem Lesen von Texten stellt dabei insbesondere das Arbeiten mit Grafiken einen wichtigen Aspekt dar. Um die Bedienung auf einem taktilen Flächendisplay zu erleichtern, ist eine konsistente Organisation der Inhalte hilfreich. Hierfür wurde ein neuartiges taktiles Fenstersystem umgesetzt, welches die Ausgabe nicht nur in mehrere disjunkte Bereiche unterteilt, sondern auch verschiedene taktile Darstellungsarten unterstützt. Zur Systematisierung der Gestaltung und Evaluation derartiger taktiler Benutzungsoberflächen sowie der darin stattfindenden Benutzerinteraktionen wurde zunächst eine Taxonomie erarbeitet. Dabei wurden neben der Interaktion selber, welche durch die Ein-und Ausgabe sowie die Handbewegungen des Benutzers beschrieben werden kann, auch die Benutzerintention in Form von taktilen Elementaraufgaben sowie die technischen Spezifikationen des Geräts mit einbezogen. Basierend auf der Taxonomie wurden anschließend relevante Aspekte identifiziert, welche in mehreren Benutzerstudien mit insgesamt 46 blinden und hochgradig sehbehinderten Menschen untersucht wurden. Die betrachteten Untersuchungsfragen betrafen dabei einerseits die Effektivität der Ausgabe in Form verschiedener taktiler Ansichtsarten sowie die Eingabe und Erkundung durch den Benutzer, andererseits auch Aspekte zur Effizienz konkreter Interaktionstechniken. Als Ergebnis der einzelnen Studien wurden abschließend konkrete Empfehlungen zur Umsetzung von Benutzungsoberflächen auf flächigen Brailledisplays gegeben. Diese beinhalten insbesondere Aspekte zur Ergonomie von taktilen Flächendisplays, zur Anzeige von textuellen Inhalten, zur Darstellung und Interaktion mit grafischen Inhalten sowie zu Orientierungshilfen. Insgesamt konnte mit Hilfe der Benutzerstudien gezeigt werden, dass flächige Brailledisplays blinden Menschen einen effektiven und effizienten Zugang zu grafischen Benutzungsoberflächen ermöglichen. Verschiedene taktile Darstellungsarten können dabei das Lösen unterschiedlicher Aufgaben unterstützen. Generell erfordert die flächige Interaktion vom Benutzer allerdings auch die Erweiterung seiner konventionellen Erkundungs-und Eingabestrategien. Die Bereitstellung neuartiger Interaktionstechniken zur Unterstützung der Orientierung kann die Effizienz zusätzlich steigern. / Blind people normally use screen readers as well as single-lined refreshable Braille displays for accessing graphical user interfaces (GUIs). These technologies allow for a non-visual perception of textual content but not for an effective handling of visual illustrations. Novel two-dimensional tactile pin-matrix devices are an appropriate solution to interactively access tactual graphics. In this way, they can enrich the interaction possibilities of blind users in dealing with graphical applications. For instance, such devices enable the exploration of spatial arrangements and also combine output of Braille, graphics and semi-graphical elements. To make the high amount of simultaneously presented information perceivable and efficiently usable for blind users, an adequate preparation of content as well as adapted navigation and orientation mechanisms must be provided. In this thesis the BrailleDis devices of Metec AG, which have a tactile output area of 120 times 60 pins, were used. The goal was to investigate to what extent large pin-matrix devices enable blind people to use graphical user interfaces effectively and efficiently. Access to the GUI itself, reading text, and dealing with graphics are the main aspects of the application area of such devices. To facilitate the operation on a two-dimensional pin-matrix device a consistent organization of the content is helpful. Therefore, a novel tactile windowing system was implemented which divides the output area into multiple disjunctive regions and supports diverse tactile information visualizations. Moreover, a taxonomy was developed to systematize the design and evaluation of tactile user interfaces. Apart from interaction that can be described by input and output as well as hand movements, the taxonomy includes user intention in terms of interactive task primitives and technical specifications of the device. Based on the taxonomy, relevant aspects of tactile interaction were identified. These aspects were examined in multiple user studies with a total of 46 blind and visually impaired participants. The following research topics were considered during the user studies: 1. the effectiveness of diverse tactile view types (output), 2. user input and exploration, and 3. the efficiency of specific interaction techniques. As a result, practical recommendations for implementing user interfaces on two-dimensional pin-matrix devices were given. These recommendations include ergonomic issues of physical devices as well as design considerations for textual and graphical content as well as orientation aids. In summary, the user studies showed that two-dimensional pin-matrix devices enable blind people an effective and efficient access to graphical user interfaces. Diverse tactile information visualizations can support users to fulfill various tasks. In general, two-dimensional interaction requires the extension of conventional exploration and input strategies of users. The provision of novel interaction techniques for supporting orientation can help to increase efficiency even more.

This dissertation is devoted to a monographic processing of the work of sculptress Maria Bartuszová (1936, Prague - 1996, Košice). Methodologically, it is mainly based on the compilation and evaluation of knowledge from the in-depth research of the first list of works of M. Bartuszová "Catalogue Raisonné 2012-2018", Collection of drawings and photographs from the Archive of M. Bartuszová, biography, exhibitions and bibliography. It is divided into four chapters, in which it deals with the sculpture of M. Bartuszová, its transformations in the period of her ceramics studies at the Academy of Fine Arts, Design and Architecture during the 1950s in Prague, continues by tracking her sculptural beginnings since 1961, and it deals with the circumstances of her relocation to Košice where she lived most of her life. It tracks her work during the normalization period of the 1970s until the end of the 1980s, when the totalitarian regime ended with the Velvet revolution. It explores the reasons why her work was little exhibited and also why it was little known and reflected by the professional circles. Based on the process of assembling parts of the organism of her oeuvre reconstructs technological experimental procedures, original terminology of the sculptor, creative intentions, dating of works and their...

No description available.

[EN] Nowadays, there are many electronic products that incorporate elements and features coming from the research in the field of mobile robotics. For instance, the well-known vacuum cleaning robot Roomba by iRobot, which belongs to the field of service robotics, one of the most active within the sector. There are also numerous autonomous robotic systems in industrial warehouses and plants. It is the case of Autonomous Guided Vehicles (AGVs), which are able to drive completely autonomously in very structured environments. Apart from industry and consumer electronics, within the automotive field there are some devices that give intelligence to the vehicle, derived in most cases from advances in mobile robotics. In fact, more and more often vehicles incorporate Advanced Driver Assistance Systems (ADAS), such as navigation control with automatic speed regulation, lane change and overtaking assistant, automatic parking or collision warning, among other features. However, despite all the advances there are some problems that remain unresolved and can be improved. Collisions and rollovers stand out among the most common accidents of vehicles with manual or autonomous driving. In fact, it is almost impossible to guarantee driving without accidents in unstructured environments where vehicles share the space with other moving agents, such as other vehicles and pedestrians. That is why searching for techniques to improve safety in intelligent vehicles, either autonomous or manual-assisted driving, is still a trending topic within the robotics community. This thesis focuses on the design of tools and techniques for planning and control of intelligent vehicles in order to improve safety and comfort. The dissertation is divided into two parts, the first one on autonomous driving and the second one on manual-assisted driving. The main link between them is the use of clothoids as mathematical formulation for both trajectory generation and collision detection. Among the problems solved the following stand out: obstacle avoidance, rollover avoidance and advanced driver assistance to avoid collisions with pedestrians. / [ES] En la actualidad se comercializan infinidad de productos de electrónica de consumo que incorporan elementos y características procedentes de avances en el sector de la robótica móvil. Por ejemplo, el conocido robot aspirador Roomba de la empresa iRobot, el cual pertenece al campo de la robótica de servicio, uno de los más activos en el sector. También hay numerosos sistemas robóticos autónomos en almacenes y plantas industriales. Es el caso de los vehículos autoguiados (AGVs), capaces de conducir de forma totalmente autónoma en entornos muy estructurados. Además de en la industria y en electrónica de consumo, dentro del campo de la automoción también existen dispositivos que dotan de cierta inteligencia al vehículo, derivados la mayoría de las veces de avances en robótica móvil. De hecho, cada vez con mayor frecuencia los vehículos incorporan sistemas avanzados de asistencia al conductor (ADAS por sus siglas en inglés), tales como control de navegación con regulación automática de velocidad, asistente de cambio de carril y adelantamiento, aparcamiento automático o aviso de colisión, entre otras prestaciones. No obstante, pese a todos los avances siguen existiendo problemas sin resolver y que pueden mejorarse. La colisión y el vuelco destacan entre los accidentes más comunes en vehículos con conducción tanto manual como autónoma. De hecho, la dificultad de conducir en entornos desestructurados compartiendo el espacio con otros agentes móviles, tales como coches o personas, hace casi imposible garantizar la conducción sin accidentes. Es por ello que la búsqueda de técnicas para mejorar la seguridad en vehículos inteligentes, ya sean de conducción autónoma o manual asistida, es un tema que siempre está en auge en la comunidad robótica. La presente tesis se centra en el diseño de herramientas y técnicas de planificación y control de vehículos inteligentes, para la mejora de la seguridad y el confort. La disertación se ha dividido en dos partes, la primera sobre conducción autónoma y la segunda sobre conducción manual asistida. El principal nexo de unión es el uso de clotoides como elemento de generación de trayectorias y detección de colisiones. Entre los problemas que se resuelven destacan la evitación de obstáculos, la evitación de vuelcos y la asistencia avanzada al conductor para evitar colisiones con peatones. / [CA] En l'actualitat es comercialitzen infinitat de productes d'electrònica de consum que incorporen elements i característiques procedents d'avanços en el sector de la robòtica mòbil. Per exemple, el conegut robot aspirador Roomba de l'empresa iRobot, el qual pertany al camp de la robòtica de servici, un dels més actius en el sector. També hi ha nombrosos sistemes robòtics autònoms en magatzems i plantes industrials. És el cas dels vehicles autoguiats (AGVs), els quals són capaços de conduir de forma totalment autònoma en entorns molt estructurats. A més de en la indústria i en l'electrònica de consum, dins el camp de l'automoció també existeixen dispositius que doten al vehicle de certa intel·ligència, la majoria de les vegades derivats d'avanços en robòtica mòbil. De fet, cada vegada amb més freqüència els vehicles incorporen sistemes avançats d'assistència al conductor (ADAS per les sigles en anglés), com ara control de navegació amb regulació automàtica de velocitat, assistent de canvi de carril i avançament, aparcament automàtic o avís de col·lisió, entre altres prestacions. No obstant això, malgrat tots els avanços segueixen existint problemes sense resoldre i que poden millorar-se. La col·lisió i la bolcada destaquen entre els accidents més comuns en vehicles amb conducció tant manual com autònoma. De fet, la dificultat de conduir en entorns desestructurats compartint l'espai amb altres agents mòbils, tals com cotxes o persones, fa quasi impossible garantitzar la conducció sense accidents. És per això que la recerca de tècniques per millorar la seguretat en vehicles intel·ligents, ja siguen de conducció autònoma o manual assistida, és un tema que sempre està en auge a la comunitat robòtica. La present tesi es centra en el disseny d'eines i tècniques de planificació i control de vehicles intel·ligents, per a la millora de la seguretat i el confort. La dissertació s'ha dividit en dues parts, la primera sobre conducció autònoma i la segona sobre conducció manual assistida. El principal nexe d'unió és l'ús de clotoides com a element de generació de trajectòries i detecció de col·lisions. Entre els problemes que es resolen destaquen l'evitació d'obstacles, l'evitació de bolcades i l'assistència avançada al conductor per evitar col·lisions amb vianants. / Girbés Juan, V. (2016). Clothoid-based Planning and Control in Intelligent Vehicles (Autonomous and Manual-Assisted Driving) [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/65072

This dissertation offers the first extended study of the work of the Welsh-French poet Heather Dohollau, whose substantial œuvre in French, published since 1974, has recently received international critical recognition. My thesis centres on the idea of traversée, which originates in Dohollau’s experience of exiles, returns and bilingualism. My chapters elucidate five interconnected themes which all relate to that overarching paradigm. Chapter 1 focuses on Dohollau’s trajectories as reflected in poems on the memory of place, concentrating on South Wales and the island. The quest for place is also a quest for the past, which is handled as an after-image capable of upwelling into the present. Chapter 2 investigates the visual-verbal bilingualism towards which Dohollau’s texts on specific artworks (or ekphrastic texts) seem to strive. Dohollau revitalizes the ekphrastic tradition and challenges its conventional connotations of power struggle (W. J. T. Mitchell) in favour of a poetics of hospitality. Chapter 3 is dedicated to Dohollau’s ethos and practice of slowness. It undertakes a close-reading analysis of her syntactic and sound-related rhythms, connecting them with Derrida’s différance. The idea of poetry as a foreign language is discussed in chapter 4: Dohollau’s adoption of French as her main poetic language in the mid-1960s, her handling of motherhood and daughterhood, and her quest for a poetics of mourning and fidelity are examined in their interrelations. The concluding chapter explores the boundaries between language and the unsaid. Dohollau has been uniquely placed to engage with postwar reassessments of language and its limits (Derrida, Heidegger, Blanchot), poised as she is between languages and media. As her poems show, such limits constitute a poetic resource in their own right. Her carefully cultivated liminal stance has given her important insights into the creative process as a passage into words from an unwritten, yet not utterly inchoate other of the poem.

Made available in DSpace on 2016-03-15T19:34:24Z (GMT). No. of bitstreams: 1 Leandro Moreira Valente Barbas.pdf: 3080773 bytes, checksum: 5224fe793510ae5cce0c2781893d8c66 (MD5) Previous issue date: 2015-08-05 / Fundo Mackenzie de Pesquisa / The scenario of tough competition, typical of any market economy, stimulates the creativity of its players when building brand identities. The search for signs that separate from the traditional model based on a visual static mark, classified as a sole design, word or mixed mark is increasingly common. Law cannot remain idle in witnessing this scenario, since those new distinctive signs have their own particularities that are not contemplated by the Brazilian Industrial Property Law. The protection of the consumer market, of free competition and even of the owners private property of the signs themselves depend necessarily on having clear answers from the Law regarding the issue. Otherwise, the trademark system may become unstable. Therefore, this work aims at defining basic concepts regarding the theme and analyzing the main legal issues related to nontraditional marks, having international experiences on the matter as a basis. / O cenário de acirrada competição típico de qualquer economia de mercado estimula a atividade criativa de seus participantes quando da construção de identidades marcárias. É cada vez mais constante e comum a busca por sinais que fogem ao modelo tradicional de marca visual estática, figurativa, mista ou nominativa. Estes sinais recebem o nome geral de marcas não tradicionais . O Direito não pode aí quedar-se inerte, uma vez que estes novos sinais distintivos têm peculiaridades próprias que fogem, em boa medida, à sistemática determinada pela Lei de Propriedade Industrial. Logo, a proteção do mercado consumidor, da livre concorrência e mesmo da propriedade privada dos titulares dos sinais passam necessariamente por uma obtenção de respostas claras do Direito neste tema, sob pena de instabilizar-se o sistema marcário. Esta obra tem o objetivo de delinear conceitos básicos sobre o tema das marcas não tradicionais e analisar as principais problemáticas jurídicas envolvidas, baseando-se em experiências internacionais na matéria.