Reviewerly/exHarmony huggingface dataset:
Research on Key Technology and Developmental Trend of Autonomous Control of UAV

With the extensive application of UAV in air raid operations, autonomous control technology has become an important factor to improve its survivability, adaptability and mission completion ability. In this paper, the concept of autonomous control of UAV is discussed, the requirements of autonomous control capability are analyzed, the key technology of autonomous control is refined, and the prospect of autonomous control technology is given.
Optimal 3D Path Planning Using SCPSO for Cognitive Navigation Application

A path planning method for navigation experiment of Mars exploration is proposed. In this experiment, a cognitive navigation application is designed to research the working pattern of our Radiator-based Artificial Landmark Navigation (RALN) technique; and a path planning method is used to make the pre-set exploration path of this experiment. Regarding the path planning method, first, a series of threat sources, such as the harmful gas, windy weather, and uphill, are simulated. Second, a Sin-Cos Particle Swarm Optimization (SCPSO) method is developed. Third, both the threat sources and the SCPSO are considered to solve the optimal computation of path planning in the navigation experiment. Many experiment results have shown: compared with classic Particle Swarm Optimization (PSO) the mean fitness function of SCPSO can be improved almost 10.0 when the iteration time is 100; and the processing time only increases about 3.0 s.
Computer Vision

The way that humans perceive the environment mainly relies on vision, which accounts for approximately 80% of the total acquired information. Computer vision technology has been developed with the aim of providing machines with the same visual ability as humans, as well as higher precision ranging capabilities. This enables machines to be applied in various practical systems. For example, in a vision inspection system, a camera is used to capture image signal of the inspected target. The signal is then transmitted to a dedicated image processing system where it is converted into digital signal based on brightness, color, and other information. The image processing system performs various operations on these signals to extract visual features of the target, such as area, position, quantity, etc., thus achieving automatic recognition function.
Search query as a methodological indicator of new pedagogical conceptualizations (on the example of hip-pedagogy)

The article discusses the question of what precedes the theoretical formulation of new pedagogical conceptualizations. It is shown that new directions in the development of pedagogical knowledge can appear in accordance with the emerging needs of educational practice. To clarify the question of what structural components of pedagogical theory and in what form are formed at the pre-theoretical stage, as an example, a new conceptualization of “hip-pedagogics” is considered, which solves the problems of rehabilitation and correction. The hypothesis is tested that the direction of Internet search queries in the special Google Trends resource characterizes the features of this stage in the development of theoretical conceptualization, which is reflected in the frequency of the choice of the search query and the features of the lexical form of its representation. It is concluded that the emergence of new conceptualizations is associated, among other things, with the extrapolation of the results obtained on one object of the model to another, which can potentially contain similar characteristics and/or perform similar functions.
Manipulator Motion Control

Motion control is an important part in the field of manipulator research. This chapter first introduces URDF modeling and visualization control of a multi-joint manipulator. ROS provides a fully functional manipulator motion planning package, Movelt, which includes kinematic modeling, operation control, environment perception, and motion planning. Movelt is an easy-to-use integrated development platform. The manipulator is configured using the Movelt configuration assistant. When combined with Gazebo, MoveIt enables visualization simulation with friendly human-computer interaction. The motion control of the manipulator will be presented in three parts: manipulator modeling, Movelt configuration, and Movelt motion planning.
On the cultivation of proper abstraction

This paper discusses the basis, order, and motives for creating correct abstract representations in software engineering. The problem of using poor quality (ill-conceived, undefined, harmful) abstractions significantly affects the life cycle of software, narrows the range of thoughtful solutions, and reduces the reliability of a software product. To improve the quality of abstraction, a number of possible directions for finding and implementing abstract representations have been considered. Relying on a thorough literature analysis as well as on the author's own introspective experience, a strategy for finding the correct abstraction through the coherence of a concrete compact formulation and its abstract expression is proposed. Within the framework of the proposed strategy, two fundamental principles of producing a correct abstraction are found: integrity and purposefulness. The first will allow one to see the whole picture without omitting details. Purposefulness will resolve the alignment of the abstraction with both the means to the end and the end itself. Strategic coherence is provided by individual creativity, self-assessment, motivation, and accountability for the result.
Values as a factor for teachers’ psychological Hardiness in a Life

The article examines the psychological Hardiness in a Life of young university teachers in the context of their values. The parameter of Hardiness in a Life was taken as an indicator. Correlation analysis was applied to determine the relationship between Hardiness in a Life and teachers' values; a predictive model characterizing the dependence of a quantitative variable on factors was developed using linear regression method. The discovery of significant relationships between Hardiness in a Life and the values of Universalism, Achievement and Security allowed us to identify the significant contribution of values to personal psychological Hardiness in a Life. The greater the Hardiness in a Life of teachers, the more pronounced the value of Universalism. The higher the value of Achievement, the higher the indicator of Personal Hardiness in a Life. Hardiness in a Life is also manifested through the experience of one's actions, through the value of Security. All this allows the values of young teachers to be considered in the context of psychological Hardiness in a Life as reflected in the Hardiness in a Life parameter.
Developing the environmental values of civil engineering students in educational space

Environmental issues have become much more acute in the modern world than they were in the last century. Therefore, the organisation of ecological culture has become the main task of educational institutions. The relevance of the topic is explained by the fact that the formation of ecological values in young people is the basis of modern education, which is explained by the increased interest in ecology, both on the part of the legislator and the public. As a result, today the inculcation of ecological values starts from early childhood up to adolescence. However, this does not make the task easier for teachers and students. The object of the research is to develop environmental values among civil engineering students. The aim of the work is to consider the peculiarities of the formation of ecological values among civil engineering students. The main methodology of the work is a systematic analysis of theoretical and empirical material. The works of specialists in the field of methodological support of the educational process, as well as the organization of environmental education were analyzed. A sociological survey of civil engineering students was conducted. The results are presented in the form of a sociological survey that showed the gaps in the educational programmes and the possibilities to overcome them. The conclusions propose activities for the formation of environmental values among civil engineering students. These suggestions can be useful for HEIs and teachers at different levels of education.
The effectiveness of the process of self-education in a foreign language at non-linguistic faculties

This article discusses the effectiveness of the process of self-education increases when the following set of pedagogical conditions, under which we understand the set of interrelated measures of the educational process, the observance of which ensures the achievement of pre-planned goals and objectives of training: the competence of the English teacher; the combination of collective, group and individual forms of organization of the educational process; the use of a variety of teaching methods and methods of activity, taking into account the individual characteristics and the initial level of preparedness of students; methodical provision of students for the organization and implementation of this type of activity (comprehensive and timely information about the sources of educational information, thematic content of the work, the need for works, forms of control, etc.).
Intelligent methods for impartial and objective evaluation of a course project

It is suggested that students' course projects be evaluated formally using an unorthodox use of the dichotomous Rasch model and fuzzy assessments of the criteria. The approach may be integrated into e-learning systems and enables program implementation. Keywords: E-learning in higher education; evaluation of written works of students; one-parameter Rasch model; Rasch measurement; formalization of the evaluation process; STEM.
Statistical analysis of the geological-genetic and search model based on geochemical data

Statistically reconstructed geochemical data on the main and additional elements in different types of rocks, ores and minerals of the Kyzylkum gold mine. Based on the research, editing the project on problems with modern analytical methods (ISP-MS, atomic absorption, etc.). The results of statistical processing of geochemical materials on the content of elements in rocks, ores, near-ore space and minerals showed that they can serve as the basis for creating geological and genetic models used for predictive purposes and identifying the features of the formation of mineral deposits in the region. This paper reveals the possibility of using the results of statistical data processing, by the nature of the distribution of the main ore elements in rocks, ores, near-ore space and minerals to identify the conditions of ore formation, typomorphic features of minerals on gold-rare-metal and gold-silver objects of Central Kyzylkum and the use of data for the development of geological and genetic search models. To solve the tasks, the results of about 6700 definitions of the main and related elements were statistically processed. At the same time, the following statistical parameters were revealed: average contents, degree of content, correlations, intensity of accumulation of elements in various samples that characterize the types of rocks, ores and their spatial manifestation.
Teaching methodology with IT intensification and sociocultural theory

Intensification of education in a higher educational establishment is an overall problem nowadays. Educational activity is impossible to imagine without speech intellectual activity. Language is a tool to reflect linguistic meaning. The idea of the methodology is based on one of five tenets which outline Cultural-Historical Activity Theory, namely “general law of social development”. The activity on the part of a teacher is reflected within the methodology. All necessary methods and techniques should be allowed to provide students’ participating in a discursive practice as a subject. Such a person possesses self-regulation, that is, the capacity for independent problem solving and self-directed activity. The interdependence between a student’s personal qualities and quality of knowledge is apparent. Flexible attitude provides a sensitivity to students’ current abilities.
Development of moral and psychological stability of youth through the use of music in the process of teaching spiritual and moral disciplines

The article gives a brief overview of the use of music as an innovative teaching method in the teaching of spiritual and moral disciplines on the example of the Department of Theology of the Don State Technical University. Possibilities of one of effective means of formation of spiritual culture through musical art are considered. The analysis of the effective experience of the use of musical innovative methods and forms of training is carried out. Since 2020 the project "Classical music and spirituality" began to be realized, which is aimed at the spiritual and moral education of students through familiarization with the works of classical music art and culture (holding gala concerts, participation and organization of competitions, musical lectures, evenings of Russian romance, author and project manager Andrei Alexandrovich Mekushkin, the head of the DSTU Theology Department). In addition, since 2020, the introduction and use of innovative forms of learning, including music as a means of emotional harmonization, stabilization of psychological stability, education and formation of spiritual culture in the process of teaching disciplines of spiritual and moral orientation "Fundamentals of Morality" (teacher of DSTU Theology Department Olga Nikolaevna Enina).
Analysis of the efficiency of modern information technologies in e-learning and the use of interactive methods

Today, there is an urgent need to use distance technologies in education. The significant disadvantages of e-learning are students’ low self-motivation, and the insufficient level of formed social communication skills. The above disadvantages can be largely overcome with interactive teaching methods and appropriate information technologies in the educational process. A correct approach in including interactive technologies in e-learning provides significant positive effects. One of the main challenges in using interactive technologies in e-learning is how to organize efficient remote dialogue and joint work of the participants. The paper analyzes information technologies recommended at various stages of organizing and designing interactive learning technologies. When working in groups, students can use online services such as Google Sheets, Google Docs, and Google Slides. These services greatly facilitate the work on a joint project and help the project team prepare for its successful presentation. Since many e-learning platforms cannot provide high-quality communication for participants, video conferencing services and social networks should supplement them. E-learning platforms should ensure that learners work effectively on common tasks using interactive learning technologies. We believe that every modern e-learning platform should contain a software module similar in functionality to Google Docs, Google Sheets, and Google Slides. It will make it possible to successfully implement all stages of organizing and designing interactive learning technologies. We can evaluate the efficiency of the forms of conducting classes using mathematical modeling, in particular, game-theoretic modeling. To assess the efficiency of the traditional and interactive forms of conducting classes, it is advisable to use an antagonistic (matrix) game and a cooperative game, correspondingly.
Sheep Detection in Grassland Using Deep Learning and Background Modelling

In this paper, we propose and validate target detection using deep learning and background modeling for sheep detection problem in pasture. First, the video data of sheep in pasture are collected using a mid-infrared camera. Second, the foreground of video is extracted by Gaussian Mixture Model (GMM), and morphological operations are also performed to address the noise and jitter problems of video. Finally, the foreground video is fed into a deep learning network to detect the sheep targets. The experimental results show that the method proposed in this paper can effectively detect sheep in pasture with an average prediction accuracy mAP value of 84.2% and a detection speed of 29.45 fps, which achieves better results and has the practical application value.
Pedagogical aspects of the development of creative abilities of pre-schoolers based on an innovative approach focused on the personality

This article discusses the development of creative abilities of preschoolers, which is the first and main stage of the system of continuing education, the role of teachers-educators of the organization of preschool education in the implementation of this task, their tasks and exceptional solutions. to solve the above issues. The purpose and objectives of the "Observation Notebook" to determine the creative abilities of preschoolers, which was developed in order to determine the degree of formation of the creative abilities of preschoolers and their development, and the order of its management are described by educators. When conducting an "Observation book on determining children's creative abilities" in their practice, educators approach each child individually, pay attention to achievements and problems in the areas of development, what qualities need to be maintained, what tasks each child faces, determines relevance.
Psychological and social adaptive orientation in the teaching of first-year students

The article is devoted to the problem of adaptation of first–year students - future teachers to university education. The concept of «adaptation of students», factors and a set of problems of a first-year student are considered. The analysis of the component of the psychological and social adaptability of orientation in the educational process when studying at a university is presented. The results of the survey and diagnosis are to identify the difficulties experienced by future teachers in the first year of study, in order to create conditions for adaptation to the university format of educational and cognitive activity.
Negation in a Language

Negation is a common feature in all languages verbal as well as in text. It is used when it is needed to express something that is not true or false and disagree or denied some statement. To express a negative statement, in most cases, a dedicated negative term or phrase is used. The negation in the sentence is used in various ways, most commonly using a negative using some specially designated words such as no, not, never, none, and nobody in English. On the other hand, sometimes use prefixes (e.g., de-, dis-, un-) or suffixes (-less). For example, dislike, uselessness, etc. This paper only focuses on negation in the Bengali language. For Bengali, there are much more complex features like double negation, reduplicated negation, etc. Apart from these so many exceptional uses of negation are there. The Bengali negation is the most frequent word in the Bengali language. There are few works found in Bengali negation and most of these are in linguistic aspect. This work is dedicated to a corpus-based study of Bengali negation that explores their frequencies at word level as well as sentence level and also explores various unexplored features from the computational point of view. The outcome of this study is very much helpful in various Natural Language Applications (NLP), like text summarization, machine translation, hate speech detection, etc.
Comparison of ROS Local Planners for a Holonomic Robot in Gazebo Simulator

A safe robot navigation in a dynamic environment is an essential part of an autonomous exploration path planning. A path planning part of a navigation involves global and local planners. While a global planner finds an optimal path with a prior knowledge of an environment and static obstacles, a local planner recalculates the path to avoid dynamic obstacles. The main goal of a local planning is adjusting an initial plan produced by a global planner in an online fashion. It is a crucial step to ensure a robot operation in dynamic environments because in real world scenarios an environment usually contains people and thus, a dynamic obstacles avoidance must respond quickly and recalculate an actual route. Holonomic robotic platforms are robotic vehicles that use omni-wheels to move in any direction, at any angle, without an additional rotation. These robotic platforms are ideal for working zones with a limited space access. This paper provides a comparison of ROS local planners that support omni-wheel mobile robots: Trajectory Rollout, DWA, EBand, and TEB. The algorithms were compared using a path length, a travelling time and a number of obstacle collisions. Gazebo simulator was used for modeling virtual scenes with dynamic obstacles.
GBMILs: Gradient Boosting Models for Multiple Instance Learning

An approach based on using the gradient boosting machine for solving the Multiple Instance Learning (MIL) problem under condition of small tabular data is proposed. The MIL deals with labeled objects called bags which consist of several parts of the objects called instances with unknown labels and each bag label depends on the instance labels. Three modifications of the approach are developed and studied. They are determined by different aggregation functions which combine the intermediate predictions of the instance classes in each bag and allow gradient-based optimization through them. The modifications are based on the following aggregation functions: the Hard Max Aggregation, the Simple Attention Aggregation, and the Ensemble of gradient boosting machines in fusion with the Attention Neural Networks. The former two modifications can use an arbitrary decision tree gradient boosting model, which allows iterative training on loss gradients. The later modification simultaneously optimizes an ensemble of parallel gradient boosting models and the parameters of neural network. Numerical experiments with tabular datasets illustrate the proposed modifications of the approach and their superiority comparing to available MIL approaches accompanied by accuracy improvement up to 8%.
Construction of a Three-Dimensional UAV Movement Planner When the Latter Moves in Conditions of Difficult Terrain

The known methods of planning the routes of movement of robotic platforms based on cellular decomposition of the area of movement in a three-dimensional formulation are severely limited in speed. Therefore, the construction of high-speed planning algorithms in a three-dimensional mapped environment is an urgent task. This article proposes a method for planning the movement of robotic platforms in this environment, combining the use of the well-known Dijkstra algorithm for constructing a two-dimensional projection curve with subsequent projection reconstruction and multi-stage correction of the target spatial piecewise polyline curve. The restoration of the original spatial curve by its two-dimensional projection onto the horizontal plane is performed on the basis of a given discrete elevation map of the motion area, and the specified adjustment is made taking into account the requirements, firstly, the minimality of the total length of the final piecewise polyline, and, secondly, taking into account the specified known kinematic limitations of the apparatus. The algorithm for the synthesis of a spatial curve is detailed for the common case when obstacles are represented in the form of rectangular cylinders with polygonal generators. The effectiveness of the developed global scheduler algorithm is confirmed by the results of numerical modeling.