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Task-Space Control Interface for Softbank Humanoid Robots and Its
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar To cite this version: Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. IEEE/SICE 13th International Symposium on System Integration (SII 2021), Jan 2021, Online conference (originally: Iwaki, Fukushima), Japan. pp.560-565, 10.1109/IEEECONF49454.2021.9382685. hal-02919367v3 HAL Id: hal-02919367 https://hal.archives-ouvertes.fr/hal-02919367v3 Submitted on 8 Oct 2020 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications Anastasia Bolotnikova1;2, Pierre Gergondet4, Arnaud Tanguy3,Sebastien´ Courtois1, Abderrahmane Kheddar3;2;4 Abstract— We present an open-source software interface, Real robot called mc naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc rtc Fixed frame rate low-level actuator commands Robot sensors readings from framework, on the SoftBank Robotics Europe humanoid robots. Other robot device commands low-level memory fast access We describe the control interface, associated robot description mc_naoqi_dcm packages, robot modules and sample whole-body controllers. -
Reg. No Name in Full Residential Address Gender Contact No
Reg. No Name in Full Residential Address Gender Contact No. Email id Remarks 20001 MUDKONDWAR SHRUTIKA HOSPITAL, TAHSIL Male 9420020369 [email protected] RENEWAL UP TO 26/04/2018 PRASHANT NAMDEORAO OFFICE ROAD, AT/P/TAL- GEORAI, 431127 BEED Maharashtra 20002 RADHIKA BABURAJ FLAT NO.10-E, ABAD MAINE Female 9886745848 / [email protected] RENEWAL UP TO 26/04/2018 PLAZA OPP.CMFRI, MARINE 8281300696 DRIVE, KOCHI, KERALA 682018 Kerela 20003 KULKARNI VAISHALI HARISH CHANDRA RESEARCH Female 0532 2274022 / [email protected] RENEWAL UP TO 26/04/2018 MADHUKAR INSTITUTE, CHHATNAG ROAD, 8874709114 JHUSI, ALLAHABAD 211019 ALLAHABAD Uttar Pradesh 20004 BICHU VAISHALI 6, KOLABA HOUSE, BPT OFFICENT Female 022 22182011 / NOT RENEW SHRIRANG QUARTERS, DUMYANE RD., 9819791683 COLABA 400005 MUMBAI Maharashtra 20005 DOSHI DOLLY MAHENDRA 7-A, PUTLIBAI BHAVAN, ZAVER Female 9892399719 [email protected] RENEWAL UP TO 26/04/2018 ROAD, MULUND (W) 400080 MUMBAI Maharashtra 20006 PRABHU SAYALI GAJANAN F1,CHINTAMANI PLAZA, KUDAL Female 02362 223223 / [email protected] RENEWAL UP TO 26/04/2018 OPP POLICE STATION,MAIN ROAD 9422434365 KUDAL 416520 SINDHUDURG Maharashtra 20007 RUKADIKAR WAHEEDA 385/B, ALISHAN BUILDING, Female 9890346988 DR.NAUSHAD.INAMDAR@GMA RENEWAL UP TO 26/04/2018 BABASAHEB MHAISAL VES, PANCHIL NAGAR, IL.COM MEHDHE PLOT- 13, MIRAJ 416410 SANGLI Maharashtra 20008 GHORPADE TEJAL A-7 / A-8, SHIVSHAKTI APT., Male 02312650525 / NOT RENEW CHANDRAHAS GIANT HOUSE, SARLAKSHAN 9226377667 PARK KOLHAPUR Maharashtra 20009 JAIN MAMTA -
The Sphingidae (Lepidoptera) of the Philippines
©Entomologischer Verein Apollo e.V. Frankfurt am Main; download unter www.zobodat.at Nachr. entomol. Ver. Apollo, Suppl. 17: 17-132 (1998) 17 The Sphingidae (Lepidoptera) of the Philippines Willem H o g e n e s and Colin G. T r e a d a w a y Willem Hogenes, Zoologisch Museum Amsterdam, Afd. Entomologie, Plantage Middenlaan 64, NL-1018 DH Amsterdam, The Netherlands Colin G. T readaway, Entomologie II, Forschungsinstitut Senckenberg, Senckenberganlage 25, D-60325 Frankfurt am Main, Germany Abstract: This publication covers all Sphingidae known from the Philippines at this time in the form of an annotated checklist. (A concise checklist of the species can be found in Table 4, page 120.) Distribution maps are included as well as 18 colour plates covering all but one species. Where no specimens of a particular spe cies from the Philippines were available to us, illustrations are given of specimens from outside the Philippines. In total we have listed 117 species (with 5 additional subspecies where more than one subspecies of a species exists in the Philippines). Four tables are provided: 1) a breakdown of the number of species and endemic species/subspecies for each subfamily, tribe and genus of Philippine Sphingidae; 2) an evaluation of the number of species as well as endemic species/subspecies per island for the nine largest islands of the Philippines plus one small island group for comparison; 3) an evaluation of the Sphingidae endemicity for each of Vane-Wright’s (1990) faunal regions. From these tables it can be readily deduced that the highest species counts can be encountered on the islands of Palawan (73 species), Luzon (72), Mindanao, Leyte and Negros (62 each). -
Of Our 10Th Master - Dhan Guru Gobind Singh Ji Maharaj
TODAY, 25th December 2017 marks the Parkash (coming into the world) of our 10th master - Dhan Guru Gobind Singh Ji Maharaj. By dedicating just 5 minutes per day over 4 days you will be able to experience this saakhi (historical account) as narrated by Bhai Vishal Singh Ji from Kavi Santokh Singh Ji’s Gurpartap Suraj Granth. Please take the time to read it and immerse yourselves in our rich and beautiful history, Please share as widely as possible so we can all remember our king of kings Dhan Guru Gobind Singh Ji on this day. Let's not let today pass for Sikhs as just being Christmas! Please forgive us for any mistakes. *Some background information…* When we talk about the coming into this world of a Guru Sahib, we avoid using the word ‘birth’ for anything that is born must also die one day. However, *Satgur mera sada sada* The true Guru is forever and ever (Dhan Guru Ramdaas Ji Maharaj, Ang 758) Thus, when we talk about the coming into the world of Guru Sahibs we use words such as Parkash or Avtar. This is because Maharaj are forever present and on this day They simply became known/visible to us. Similarly, on the day that Guru Sahib leave their physical form, we do not use the word death because although Maharaj gave up their human form, they have not left us. Their jot (light) was passed onto the next Guru Sahib and now resides within Dhan Guru Granth Sahib Ji Maharaj. So, you will often hear people say “Maharaj Joti Jot smaa gai” meaning that their light merged back into the light of Vaheguru. -
Guidance for Funerals and End of Life Care During Corona Virus Pandemic
GUIDANCE GUIDANCE GUIDANCE Wednesday, 1st April 2020 Guidance for Funerals and End of Corona Life Care during Virus Pandemic This guidance has been prepared by the Sikh Council UK to help Gurdwaras, funeral directors and bereaved families during the global Coronavirus ) Disease (COVID 19 pandemic and is also based on the Governments guidance for the care of deceased with suspected or confirmed coronavirus (COVID – 19) This guidance aims to explore current and worst-‐case scenarios for death management in the Sikh Faith. Our objectives are to: 1. Help end of life patients access pastoral/spiritual tations care when visi are restricted 2. uphold the dignity and respect of the deceased 3. prevent the further loss of life or transmission of the potentially lethal disease to others 4. provide solace and for closure the bereaved 5. find practical solutions for applying the teachings tions and tradi of the Sikh Faith. Inpatient/End of Life Care To help stop the spread of coronavirus (COVID-‐19), most hospitals have stopped or significantly limited visits. You should check with your local hospital what to find out their advice . is Exceptions can be made on compassionate grounds, including vulnerable patients with dementia or learning disabilities, or patients receiving -‐ end of-‐life care. If visitation res is tricted, then loved may ones still make contact through phone/video-‐calls if the patient still has the means to do so. If visiting is not then allowed the patient should be equipped with the means to access Gurbani digitally (via smartphones, portable mp3 players, ). etc. If the patient is unable to independently access Gurbani the ward sister or charge ulted nurse should be cons so that Gurbani can be played near the patient audibly and respectfully. -
Koel Mallick Ç”Μå½± ĸ²È¡Œ (Ť§Å…¨)
Koel Mallick 电影 串行 (大全) 100% Love https://zh.listvote.com/lists/film/movies/100%25-love-4545961/actors Bandhan https://zh.listvote.com/lists/film/movies/bandhan-4854552/actors Hero https://zh.listvote.com/lists/film/movies/hero-21161311/actors Love https://zh.listvote.com/lists/film/movies/love-6690235/actors Eri Naam Prem https://zh.listvote.com/lists/film/movies/eri-naam-prem-16248318/actors Chore Chore Mastuto Bhai https://zh.listvote.com/lists/film/movies/chore-chore-mastuto-bhai-5105002/actors Sagardwipey Jawker Dhan https://zh.listvote.com/lists/film/movies/sagardwipey-jawker-dhan-64768666/actors Neel Akasher Chadni https://zh.listvote.com/lists/film/movies/neel-akasher-chadni-6986698/actors Shubhodrishti https://zh.listvote.com/lists/film/movies/shubhodrishti-16254219/actors Rawkto Rawhoshyo https://zh.listvote.com/lists/film/movies/rawkto-rawhoshyo-85796147/actors Shikar https://zh.listvote.com/lists/film/movies/shikar-16254147/actors Hemlock society https://zh.listvote.com/lists/film/movies/hemlock-society-5712303/actors Chander Bari https://zh.listvote.com/lists/film/movies/chander-bari-5071009/actors Saat Paake Bandha https://zh.listvote.com/lists/film/movies/saat-paake-bandha-7395714/actors MLA Fatakeshto https://zh.listvote.com/lists/film/movies/mla-fatakeshto-6716513/actors Premi No.1 https://zh.listvote.com/lists/film/movies/premi-no.1-7240259/actors Yuddho https://zh.listvote.com/lists/film/movies/yuddho-8060215/actors Shesh Theke Shuru https://zh.listvote.com/lists/film/movies/shesh-theke-shuru-63859758/actors -
Gurdwara Guidelines
Gurdwara Guidelines Darbar Sahib (The overall Responsibility of the Darbar Sahib Management Committee) • Parkaash in the morning and Suhaassan in the evening • All prayers to be conducted by the Granthi/Jatha unless specified by MC • Gurdwara programs start with recitation of Gurbani, followed by Kirtan. • Various Gurbani Paths are done each Sunday – refer to separate Paath list. KIRTAN: • Kirtan times are 10.00 am -11.45 am on Sundays and 6:30 pm – 7:45 pm on all other days unless otherwise specified by the Committee. • Kirtan is followed by Anand Sahib, Ardaas and Hukam Naama • The local / Sangat Kirtan singers to be allocated time by DSM • If the family hosting the Langgar has a special request, they must discuss with the DSM • The last half hour of the program is allocated to the Resident Granthi/Jatha • Program to be finished within the allocated times ARDAAS: • To be done by the Resident Granthi only, unless otherwise specified by MC • Ardaas is according to the Rehat Maryada - no repetitions & unnecessary additions • Only the name of the family sponsoring the program of the day is to be read out unless requested due to special circumstances. • No monetary donations will be announced in the Ardas. • A DSM member to collect Ardaas list from Treasurer and provide to Granthi and a list with the donations to the Secretary for announcements. LANGGAR • Families hosting the function on Sunday are requested to obtain the Langgar ingredient list from the Kitchen committee Sewadaar. • Preparation for Sunday Langgar takes place on the Saturday at a time nominated by the host family. -
Lions Film Awards 01/01/1993 at Gd Birla Sabhagarh
1ST YEAR - LIONS FILM AWARDS 01/01/1993 AT G. D. BIRLA SABHAGARH LIST OF AWARDEES FILM BEST ACTOR TAPAS PAUL for RUPBAN BEST ACTRESS DEBASREE ROY for PREM BEST RISING ACTOR ABHISEKH CHATTERJEE for PURUSOTAM BEST RISING ACTRESS CHUMKI CHOUDHARY for ABHAGINI BEST FILM INDRAJIT BEST DIRECTOR BABLU SAMADDAR for ABHAGINI BEST UPCOMING DIRECTOR PRASENJIT for PURUSOTAM BEST MUSIC DIRECTOR MRINAL BANERJEE for CHETNA BEST PLAYBACK SINGER USHA UTHUP BEST PLAYBACK SINGER AMIT KUMAR BEST FILM NEWSPAPER CINE ADVANCE BEST P.R.O. NITA SARKAR for BAHADUR BEST PUBLICATION SUCHITRA FILM DIRECTORY SPECIAL AWARD FOR BEST FILM PREM TELEVISION BEST SERIAL NAGAR PARAY RUP NAGAR BEST DIRECTOR RAJA SEN for SUBARNALATA BEST ACTOR BHASKAR BANERJEE for STEPPING OUT BEST ACTRESS RUPA GANGULI for MUKTA BANDHA BEST NEWS READER RITA KAYRAL STAGE BEST ACTOR SOUMITRA CHATTERHEE for GHATAK BIDAI BEST ACTRESS APARNA SEN for BHALO KHARAB MAYE BEST DIRECTOR USHA GANGULI for COURT MARSHALL BEST DRAMA BECHARE JIJA JI BEST DANCER MAMATA SHANKER 2ND YEAR - LIONS FILM AWARDS 24/12/1993 AT G. D. BIRLA SABHAGARH LIST OF AWARDEES FILM BEST ACTOR CHIRANJEET for GHAR SANSAR BEST ACTRESS INDRANI HALDER for TAPASHYA BEST RISING ACTOR SANKAR CHAKRABORTY for ANUBHAV BEST RISING ACTRESS SOMA SREE for SONAM RAJA BEST SUPPORTING ACTRESS RITUPARNA SENGUPTA for SHWET PATHARER THALA BEST FILM AGANTUK OF SATYAJIT ROY BEST DIRECTOR PRABHAT ROY for SHWET PATHARER THALA BEST MUSIC DIRECTOR BABUL BOSE for MON MANE NA BEST PLAYBACK SINGER INDRANI SEN for SHWET PATHARER THALA BEST PLAYBACK SINGER SAIKAT MITRA for MISTI MADHUR BEST CINEMA NEWSPAPER SCREEN BEST FILM CRITIC CHANDI MUKHERJEE for AAJKAAL BEST P.R.O. -
Afghanistan: Sikhs and Hindus
Country Policy and Information Note Afghanistan: Sikhs and Hindus Version 5.0 May 2019 Preface Purpose This note provides country of origin information (COI) and analysis of COI for use by Home Office decision makers handling particular types of protection and human rights claims (as set out in the basis of claim section). It is not intended to be an exhaustive survey of a particular subject or theme. It is split into two main sections: (1) analysis and assessment of COI and other evidence; and (2) COI. These are explained in more detail below. Assessment This section analyses the evidence relevant to this note – i.e. the COI section; refugee/human rights laws and policies; and applicable caselaw – by describing this and its inter-relationships, and provides an assessment on whether, in general: x A person is reasonably likely to face a real risk of persecution or serious harm x A person is able to obtain protection from the state (or quasi state bodies) x A person is reasonably able to relocate within a country or territory x Claims are likely to justify granting asylum, humanitarian protection or other form of leave, and x If a claim is refused, it is likely or unlikely to be certifiable as ‘clearly unfounded’ under section 94 of the Nationality, Immigration and Asylum Act 2002. Decision makers must, however, still consider all claims on an individual basis, taking into account each case’s specific facts. Country of origin information The country information in this note has been carefully selected in accordance with the general principles of COI research as set out in the Common EU [European Union] Guidelines for Processing Country of Origin Information (COI), dated April 2008, and the Austrian Centre for Country of Origin and Asylum Research and Documentation’s (ACCORD), Researching Country Origin Information – Training Manual, 2013. -
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Minutes of the Meeting of the Expert Committee Held on 14Th, 15Th,17Th and 18Th October, 2013 Under the Performing Arts Grants Scheme (PAGS)
No.F.10-01/2012-P.Arts (Pt.) Ministry of Culture P. Arts Section Minutes of the Meeting of the Expert Committee held on 14th, 15th,17th and 18th October, 2013 under the Performing Arts Grants Scheme (PAGS). The Expert Committee for the Performing Arts Grants Scheme (PAGS) met on 14th, 15th ,17thand 18th October, 2013 to consider renewal of salary grants to existing grantees and decide on the fresh applications received for salary and production grants under the Scheme, including review of certain past cases, as recommended in the earlier meeting. The meeting was chaired by Smt. Arvind Manjit Singh, Joint Secretary (Culture). A list of Expert members present in the meeting is annexed. 2. On the opening day of the meeting ie. 14th October, inaugurating the meeting, Sh. Sanjeev Mittal, Joint Secretary, introduced himself to the members of Expert Committee and while welcoming the members of the committee informed that the Ministry was putting its best efforts to promote, develop and protect culture of the country. As regards the Performing Arts Grants Scheme(earlier known as the Scheme of Financial Assistance to Professional Groups and Individuals Engaged for Specified Performing Arts Projects; Salary & Production Grants), it was apprised that despite severe financial constraints invoked by the Deptt. Of Expenditure the Ministry had ensured a provision of Rs.48 crores for the Repertory/Production Grants during the current financial year which was in fact higher than the last year’s budgetary provision. 3. Smt. Meena Balimane Sharma, Director, in her capacity as the Member-Secretary of the Expert Committee, thereafter, briefed the members about the salient features of various provisions of the relevant Scheme under which the proposals in question were required to be examined by them before giving their recommendations. -
Pronunciation
PRONUNCIATION Guide to the Romanized version of quotations from the Guru Granth Saheb. A. Consonants Gurmukhi letter Roman Word in Roman Word in Gurmukhi Meaning Letter letters using the letters using the relevant letter relevant letter from from the second the first column column S s Sabh sB All H h Het ihq Affection K k Krodh kroD Anger K kh Khayl Kyl Play G g Guru gurU Teacher G gh Ghar Gr House | ng Ngyani / gyani i|AwnI / igAwnI Possessing divine knowledge C c Cor cor Thief C ch Chaata Cwqw Umbrella j j Jahaaj jhwj Ship J jh Jhaaroo JwVU Broom \ ny Sunyi su\I Quiet t t Tap t`p Jump T th Thag Tg Robber f d Dar fr Fear F dh Dholak Folk Drum x n Hun hux Now q t Tan qn Body Q th Thuk Quk Sputum d d Den idn Day D dh Dhan Dn Wealth n n Net inq Everyday p p Peta ipqw Father P f Fal Pl Fruit b b Ben ibn Without B bh Bhagat Bgq Saint m m Man mn Mind X y Yam Xm Messenger of death r r Roti rotI Bread l l Loha lohw Iron v v Vasai vsY Dwell V r Koora kUVw Rubbish (n) in brackets, and (g) in brackets after the consonant 'n' both indicate a nasalised sound - Eg. 'Tu(n)' meaning 'you'; 'saibhan(g)' meaning 'by himself'. All consonants in Punjabi / Gurmukhi are sounded - Eg. 'pai-r' meaning 'foot' where the final 'r' is sounded. 3 Copyright Material: Gurmukh Singh of Raub, Pahang, Malaysia B.