Miracle-dz/UniFAR-FTUs huggingface dataset:
A hybrid architecture for adaptive robot control

Autonomous robot systems operating in an uncertain environment pose many challenges to their control architecture. Such systems must be reactive with respect to local disturbances and uncertainties and have to adapt to more persistent changes in environmental conditions and task requirements. In autonomous systems, this adaptation often has to occur without outside intervention and within a single trial while avoiding catastrophic failure. This dissertation develops a hybrid control architecture which combines methods from control theory, discrete event systems, and reinforcement learning to address these challenges and to permit the operation of complex robots at various levels of autonomy. Control is derived from a set of stable, continuous control elements which provide local reactivity and allow system behavior to be modeled as a Discrete Event Dynamic System (DEDS). Methods for automatic synthesis of a DEDS supervisor are applied to this model to impose safety constraints on the supervisory control structure which is interpreted as a Markov Decision Process (MDP). This structure directs an exploratory learning component and permits the introduction of prior control knowledge to a reinforcement learning algorithm. Actions in this framework are temporally extended, closed-loop controllers which suppress local, bounded disturbances without introducing additional control decisions. This leads to a novel, abstract state representation based on the convergence of actions and reduces the amount of robot operation required to autonomously acquire task-specific policies. Moreover, previously learned policies can be re-used as control actions to acquire hierarchical solutions for subsequent tasks. This enables the robot to address increasingly complex tasks over time and extends the scope of reinforcement learning techniques. Throughout this dissertation, the operation of the integrated control architecture is illustrated with a range of example tasks performed on a set of real and simulated robot platforms.
Reducing booster-pump-induced contaminant intrusion in Indian water systems with a self-actuated, back-pressure regulating valve

Intermittently-operated water systems struggle to equitably and effectively distribute clean water to customers. One common customer response to intermittency is to supplement the water system’s pressure by using a household, or residential, booster pump. When such booster pumps are directly connected to the water utility’s supply pipe, without an underground isolation tank (sump), they often induce negative pressure in the supply pipe which increases the flow rate. Unfortunately, where leakage rates are high, this negative pressure also increases the risk of contaminant intrusion. This thesis presents the iterative design and field testing of a patent-pending, full-bore, back-pressure regulating valve. The valve’s simple mechanism relies on a stabilized collapsing tube, or ‘Starling Resistor,’ which when installed at a customer’s connection, controls the flow rate and prevents booster pumps from creating negative pressure in the supply pipe. In collaboration with the Delhi Jal Board and several private partners, the valve’s performance was verified in two rounds of field trials in neighborhoods of New Delhi, India including Pitampura, Azad Market, Vivek Vihar, Malvia Nagar, and Vasant Vihar. Using a crossover study, the valve was found to reduce the total contamination risk across all 19 tested houses during supply times by a median of 80%. The valve prevented 96% of pressure below -1 meter and an average of 53 minutes per day, per connection of total negative pressure. In an estimated worst-case scenario for contaminant intrusion, the presence of the valve reduced the contamination risk by two orders of magnitude at six customer connections — enough to correspond to significant reductions in health risks. Thesis Supervisor: Alexander H. Slocum Title: Pappalardo Professor of Mechanical Engineering
An Analysis of Typical Errors of Young Learners of Te Reo Maori

In 1999, the New Zealand Ministry of Education commissioned the development of a draft proficiency test for learners of M ori in bilingual and immersion settings in Year 5 of schooling (aged 8 - 10). That test was, along with a range of survey materials, produced and piloted in a very short time - 13 weeks. Although it provided a starting point for further development of a proficiency battery, it did not prove sufficiently robust in itself to retain. What it did do, however, was provide a range of useful samples of the speaking and writing of Year 5 students (70 samples were collected from five different schools). These samples revealed a number of common errors, errors which were analysed and are discussed here.
Towards a Framework for Improving Software Development Process Mediated with CMMI Goals and Agile Practices

Problems in software development mainly spring from the difficulty of establishing and stabilizing the requirements, the changeability of the software and interactive dependency of the software, hardware and human beings. A software development process consists of a set of empirical and best practices in software development, together with organization and management that are needed for the software product implementation. Different process models, such as CMMI (Capability Maturity Model Integration), ISO 9001 and ISO 15504, have been developed in the last decade to support the assessment of software development processes. The main process model, examined in this thesis, is CMMI. This model was chosen as the focus of this research because it is a widely-used, beneficial approach for identifying the key weaknesses of a software development process which need immediate attention and improvement. Two of the key challenges of CMMI assessments are 1) overly heavy and time-consuming assessments and 2) the risk that the achievement of CMMI levels forces the developers to use more time writing documents than implementing the software product. The level of interest in the use of agile practices (focusing on practices such as eXtreme Programming and Scrum) has radically increased in software organizations. Practitioners argue that the adoption of agile software development methods can solve the organizational need for a more rapid and flexible software development process, and enable improved communication in changing market situations. A brief analysis of the empirical body of knowledge reveals, however, that there are also several challenges in interactive dependency management and communication between the actors of software development in an agile context.
Development of femtosecond optical frequency comb laser tracker

A new type femtosecond laser tracker is one high precision measurement instrument with urgent need in science research region and industrial manufacture field. This paper focuses on the operational principle and the structure development of the femtosecond laser tracer, and the method of error compensation as well. The system modules were studied and constructed. The femtosecond frequency comb module was firstly analyzed and developed. The femtosecond laser frequency comb performed perfectly high precise distance measurement for laser tracker. The experimental result showed that the stability of repetition rate reached 3.0×10-12@1s and the stability of carrier envelop offset reached 1.0×10-10@1s. The initial experiment showed that measurement error was less than 1ppm. Later the error compensation module was introduced, and the optoelectronic aiming and tracking control module was built. The actual test result showed that the stability of miss distance was better than 2.0 μm, the tracking speed could reach 2m/s.
Blade runner: The director's cut

In October 1989 Michael Arick, head of film restoration at Warner Brothers, came across a 70 mm print of Blade Runner, a film which generated only mediocre financial returns when it was first released in 1982. In May 1990 the 70 mm print was screened at a film festival in Los Angeles and it was discovered, to great excitement, that this print was not the same as the 1982 print but was, as director Ridley Scott later explained, a work-in-progress print which had been shown at previews in Denver and Dallas in 1982. Significantly, this 70 mm print did not contain the voice-over by Deckard (Harrison Ford), except for a brief comment after Batty's death.
Ideas for Future Museums by the Visually Impaired

The subject of study in this paper is the material created by visually impaired participants in two workshops and the approach of bringing participatory design to museums for this particular user group. These two workshops were organized as part of the research activities of the project Aanijalki. Clay pieces and models were used in the workshops to build a map of ideas and to describe future museum exhibitions accessible to visually impaired people. The analysis of the materials together with the participant's interpretations is an exploration into visually impaired people's perceptions. This analysis provides preliminary suggestions for planning future collaboration in the design of future museums with visually impaired people.
Capitalizing on Tales of the field: How to report ethnographic data in BtoB research ?

This methodological paper aims at defining what an ethnomarketing narrative is and how it can help taking into account the context of context(s) of a B2B ethnographic research. In a first part, the epistemological and methodological issues in B2B research are addressed. In a second part, the ethnomarketing narrative is presented and compared to other types of narratives to show how this style can connect to a more literary way of writing.
Development of advanced walking assist system employing stiffness sensor

Many walking stands, and assisting tools have been developed for the people with low-limb disability to prevent diseases from bedridden state and to help them walk again. But many of those equipments require user to have some physical strength or balancing ability. In our last research, we developed walking assist system for the people with lower-limb disability. With the system, user can be assisted by actuators, and do not have to worry about falling down. The system adapted the unique closed links structure with four servomotors, three PICs as controller, and four limit switches as HMI (human man interface). We confirmed the adaptability of the system by the experiment. In this research, Muscle Stiffness Sensor was tested as the advanced HMI for walking assist system, and confirmed the adaptability by the experiment. As Muscle Stiffness Sensor can attain the muscle activity, user can interface with any device he want to control. Experimental result with Muscle Stiffness sonsor showed that user could easily control the walking assist system as his will, just by changing his muscle strength.
High-voltage gain dc–dc boost converter with coupled inductors for photovoltaic systems

This study presents the analysis, design and experimental evaluation of a high-voltage gain dc–dc converter applied to photovoltaic (PV) systems. A PV module rated at 17 V is connected to the input side, whereas the converter is responsible for stepping the voltage up to 311 V with the achievement of maximum power point tracking (MPPT). An experimental prototype rated at 100 W is implemented, which does not employ electrolytic capacitors, thus increasing the useful life of the arrangement and also allowing the incorporation of the converter to the PV module. Prominent advantages of the topology are low cost and simplicity in terms of the MPPT algorithm and the system implementation, which are mandatory characteristics for renewable energy applications.
METODE NAIVE BAYES CLASSIFIER UNTUK PENENTUAN JENIS MASALAH MAHASISWA MENGGUNAKAN TEKNOLOGI AGEN

Pembimbing akademik perlu selalu memantau perkembangan akademik dan melaksanakan layanan bimbingan terkait masalah mahasiswa. Pada Politeknik Negeri Batam sudah menggunakan aplikasi perwalian yang mencatat keluhan mahasiswa. Peran dosen pembimbing akademik adalah menentukan jenis masalah mahasiswa berdasarkan data keluhan tersebut. Isu menarik dari proses penentuan jenis masalah mahasiswa ini adalah mendelegasikan tugas tersebut kepada asisten pribadi berupa perangkat lunak komputer. Dosen pembimbing akademik menjadi tidak perlu membaca keluhan satu per satu untuk setiap mahasiswa dan mempermudah dalam menentukan jenis masalah mahasiswa. Pendekatan perangkat lunak berbasis kecerdasan agen (intelligent agent) memungkinkan untuk menentukan jenis masalah mahasiswa. Perangkat lunak berbasis intelligent agent ini dirancang menggunakan metodologi Prometheus, dan dikembangkan melalui platform JADE menggunakan bahasa pemrograman Java. Pengembangan model berfokus pada bagaimana agen dapat membentuk model klasifikasi sehingga dapat menentukan jenis masalah mahasiswa. Konsep yang diterapkan pada agen berdasarkan metode naive bayes classifier, dengan jenis masalah antara lain: sulit memahami pelajaran, suasana kelas, kerja paruh waktu, IPK rendah, pacaran, kehidupan keluarga, biaya hidup, teman diluar kampus, biaya kuliah, dan malas belajar. Hasil penelitian menunjukkan bahwa agen dapat menentukan jenis masalah mahasiswa dengan akurasi pengujian mencapai 79,28%. Terdapat tiga agen, sehingga terjadi komunikasi antar agen, migrasi agen, dan pembelajaran agen dalam menentukan jenis masalah mahasiswa. Oleh karena itu, sistem multi-agen juga sekaligus diterapkan dalam penelitian ini.
Stochastic Modeling of Narrowband Fading Channels with Three Dimensional Diffuse Scattering

This chapter studies a composite stochastic model, in which the diffuse component arises from three dimensional (3-D) multipath scattering. That case occurs especially in dense scattering environments, in which the tall obstacles cause arrival of multipath power in the elevation plane, besides that arriving in the azimuth one. Also the multipath components are assumed to arrive at the mobile receiver in specific angular sectors at the azimuth receiver’s plane. The last is physically justified by multipath power blocking due to the channel obstacles (shadow fading), or/and lack of scattering objects at specific angular directions, or/and directional antennas utilization. An extended Suzuki model, where the Rician process for the diffuse scattering component is multiplied by a lognormal one, is considered as an appropriate composite model. The most important metrics of the model are presented, according to its assumptions. More specifically, from the closed form autocorrelation function, the Doppler power spectral density (PSD) of the diffuse component can be analytically derived. Afterwards exact solutions for the envelope and phase probability density functions (PDF’s) are presented. Exact solutions are also derived for the second order statistics, i.e. the level crossing rate (LCR) and the average duration of fades (ADF’s). An efficient deterministic simulation scheme will be presented, which implements the analytical model on a digital computer. Finally a curve fitting of the LCR to real world data, drawn from channel measurements, will demonstrate the flexibility and usefulness of the extended Suzuki model.
Access Control for Ambient Backscatter Enhanced Wireless Internet of Things

Beyond fifth-generation (B5G) and future networks face the challenges of spectral, energy and cost efficiency for large-scale machine-type communications. Recently, emerging ambient backscatter communication (AmBC) technology provides a promising paradigm for the development of green Internet of Things (IoT) networks in B5G era. Unlike existing work on AmBC which mostly focuses on physical layer with relatively ideal model, i.e., classic three-nodes model composed of radio frequency (RF), backscatter device (BD) and IoT device, this paper studies the access control strategy, including coefficient design and device association, from the perspective of networking. Assuming whether channel information is available a-priori, we propose online and offline access control strategies respectively. For offline access control strategy, we leverage the difference of two convex functions approximation (DCA) and dual decomposition to transform the non-concave optimization problem into the concave one, and design a distributed access control strategy called DCA-S. Furthermore, for the case that channel information is assumed to be unknown in advance due to the dynamics of primary and backscatter networks, we design a combinatorial multi-armed bandit (CMAB) access control strategy (CMAB-S). Numerical results show that the proposed DCA-S and CMAB-S can achieve significant performance improvement of the system in both cases of available and unavailable channel information compared with benchmark schemes.
Dignity in Food Aid Logistics Is Also a Knowledge Management and Digital Matter: Three Inspiring Initiatives in France

Throughout the world, including in developed countries, the COVID-19 crisis has revealed and accentuated food insecurity. The Food and Agriculture Organization of the United Nations clearly defines food security as a situation of not only availability and accessibility but also social acceptability (i.e., adequacy and sustainability). In developed countries, food security remains non-achieved at all. Notably, the so-called “little deprivation” leads the working poor to rely on food aid. We argue that even doing so, they remain food insecure: food aid is socially unacceptable because, despite their work, they are kept away from classical food access paths. In this article, we present the specificities of food aid in France and state some of its limits, namely those associated with the supply chain of donated foodstuffs. We propose a monographic study relying on a mix of firsthand material (six years of fieldwork from students with associations) and secondhand material (analysis of specialized, legal, and activity reports). We describe inspiring initiatives from three French associations and mobilize the recently published analysis of dignity construction in food aid in the United States of America to argue that dignity in food aid logistics is also a knowledge management and digital matter. Indeed, the initiatives of the three considered associations show concretely how knowledge management and digital systems can enhance dignity in food aid logistics.
Geographical, Environmental and Anthropogenic Factors Affecting the Occurrence of Wintering Eurasian Spoonbills (Platalea leucorodia) in Morocco

Investigating habitat selection and ecological factors trade-offs is a major avian ecology topic which is closely implicated for conservation purposes. Studies dealing with the impacts of ecological factors on wintering Spoonbills are overall scarce. Here, we used Principal Component Analyses (PCA) and Generalized Linear Mixed Models (GLMM) to test the relevance of geographical, environmental and anthropogenic factors in predicting the occupancy and abundance of the Eurasian spoonbills (Platalea leucorodia) during 2008-2011 within 28 Moroccan wetlands. The Eurasian Spoonbill mean annual occurrence was 59.2% (± 1.5% SE; 95%CI: 56.3%-62.1%). Among the occupied wetlands, 15 (83.3%) were regularly occupied. We found that the Eurasian spoonbill occurrence was negatively related to distance to coastline, altitude and human presence, whereas its abundance increased significantly with increasing mudflat areas. These findings highlight the significant effect of human presence in selecting wintering sites, but not in the prediction of abundance. Management strategies should therefore address specific attributes of coastal wetlands and should carefully consider the effects of habitat use especially those related to mudflats. We further suggest guidelines for future studies to understand the dynamic of Eurasian spoonbills wintering in the region.
Oberflächenrekonstruktion mittels Stereodeflektometrie

Zusammenfassung Stereoverfahren zur Inspektion und Rekonstruktion spiegelnder Oberflächen können global versagen. Hierzu wird ein konstruktives Verfahren zur Erzeugung von nicht unterscheidbaren Flächenpaaren vorgestellt. Es ergeben sich daraus Bedingungen für die Anwendung von Stereoverfahren zur Rekonstruktion spiegelnder Objekte. Die Rekonstruktion komplex geformter Objekte basiert in der Regel auf vielen einzelnen Teilmessungen. Überlappen sich diese Messbereiche, so kann dort das deflektometrische Stereo zur Regularisierung des Rekonstruktionsproblems gewinnbringend eingesetzt werden. Abstract Deflectometric stereo methods can fail globally. An algorithm for the construction of ambiguous surface pairs will be presented. This way, constraints for the applicability of stereo methods in the specular case are derived. With this knowledge, stereo methods allow the regularization of the deflectometric reconstruction problem in several regards.
The Long, Long Life of Trees

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Efficient Data Mining Model for Question Retrieval and Question Analytics using Semantic Web Framework in Smart E-Learning Environment

In the field of Information recovery, the fundamental target is to discover important just as most applicable data concerning a few questions. However, the essential issue regarding recuperation has reliably been, that the request for an area is enormous so much that it has gotten very difficult to recuperate applicable information capably. In any case, with the latest progressions in profound learning and AI models, calculations, applications brilliant and computerized data recovery component matched with text examination to decide different characterizing boundaries alongside intricacy and weight-age assurance of inquiries. By focusing, the cutoff points and hardships, like CPU cost, efficiency, automation and congruity, we have assigned our information recuperation structure, particularly towards the Academic Institutional Domain to consider the interest of various association related inquiries. The aim is to make an efficient data mining and an analytical model that can automate an efficient question retrieval and analysis for complexity and weight-age determination.