Towards modelling group-robot interactions using a qualitative spatial representation

This paper tackles the problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks interacting with a group of people. The Qualitative Spatial model for Group Robot Interaction (QS-GRI) defines Kendon-formations depending on: (i) the relative location of the robot with respect to other individuals involved in that interaction; (ii) the individuals' orientation; (iii) the shared peri-personal distance; and (iv) the role of the individuals (observer, main character or interactive). The evolution of Kendon-formations between is studied, that is, how one formation is transformed into another. These transformations can depend on the role that the robot have, and on the amount of people involved.Postprint (author's final draft

Hubungan Antara Budaya Kerja Dengan Komitmen Organisasi Karyawan

Komitmen organisasi suatu perusahaan akan berpengaruh pada kesuksesan perusahaan. Sukses dalam suatu perusahaan tidak lepas dari sikap perilaku anggotanya yang dibentuk oleh norma-norma, sehingga menjadi budaya kerja. Budaya yang di bangun, dimiliki dan sebagainya diadopsi oleh anggota perusahaan sebagai salah satu strategi yang akan mempengaruhi jalannya bisnis perusahaan. Penelitian ini dilakukan untuk mengetahui hubungan antara budaya kerja dengan komitmen organisasi karyawan. Penelitian ini menggunakan metode kuantitatif yang berkorelasi. Penelitian ini merupakan studi populasi yang melibatkan 66 karyawan MNC Play Media. Komitmen organisasi dan budaya kerja diukur dengan model skala likert. Data yang terkumpul dianalisis dengan menggunakan uji korelasi product moment yang dibantu program Statistical Package for Social Sciences (SPSS) 22.0 for Windows. Hasil penelitian menunjukkan adanya hubungan yang positif dan sangat signifikan antara budaya kerja dengan komitmen organisasi dengan R hitung> R tabel = 0,356> 0,242 dan p = 0,003 <0,050

Amyotrophic Lateral Sclerosis: mechanism behind mutant SOD toxicity and improving current therapeutic strategies

Amyotrophic Lateral Sclerosis (ALS) is an always lethal motor neuron disease with unknown pathogenesis. Inhibitors of the molecular chaperone heat shock protein 90 (Hsp90) have limited neuroprotection in some models of motor neuron degeneration. However the direct effect of Hsp90 inhibition on motor neurons is unknown. Here we show that Hsp90 inhibition induced motor neuron death through activation of the P2X7 receptor. Motor neuron death required phosphatase and tensein homolog (PTEN)-mediated inhibition of the PI3K/AKT pathway leading to Fas receptor activation and caspase dependent death. The relevance of Hsp90 for motor neuron survival was investigated in mutant Cu/Zn superoxide dismutase (SOD) transgenic animal models for ALS. Nitrated Hsp90, a posttranslational modification known to induce cell death (Franco, Ye et al. 2013), was present in motor neurons after intracellular release of zinc deficient (Zn, D83S) and the SOD in which copper binding site was genetically ablated (Q) but not after copper deficient (Cu) wild type SOD. Zn deficient and Q mutant SOD induced motor neuron death in a peroxynitrite mediated and copper dependent mechanism. Nitrated Hsp90 was not detected in the spinal cord of transgenic animals for ALS-mutant SOD animal models until disease onset. Increased nitrated Hsp90 concentrations correlated with disease progression. Addition of Zn or Q SOD to nontransgenic brain homogenate treated with peroxynitrite led to an increase level of nitrotyrosine in comparison to wild type controls. However, in the same samples there was a 2 to 10 time increase in Hsp90 nitration as compared to nitrotyrosine. The selective increase is likely due to the binding of Hsp90 to Zn deficient and Q SOD as oppose to wild type SOD. These results suggest that Hsp90 nitration facilitated by mutant SOD may cause motor neuron degeneration in ALS. Targeted inhibition of nitrated Hsp90 may be a novel therapeutic approach for ALS. An alternative therapeutic strategy is to target the production of survival factors by glial cells. Riluzole is the only FDA approved drug for the treatment of ALS and it shows a small but significant increase in patient lifespan. Our results show that acute riluzole treatment stimulated trophic factor production by astrocytes and Schwann cells. However long-term exposure reversed and even inhibited the production of trophic factors, an observation that may explain the modest increase in patient survival in clinical trials. Discontinuous riluzole treatment can maintain elevated trophic factor levels and prevent trophic factor reduction in spinal cords of nontransgenic animals. These results suggest that discontinuous riluzole administration may improve ALS patient survival. In summary, we demonstrated that Hsp90 has an essential function in the regulation of motor neuron survival. We have also shown that Hsp90 was nitrated in the presence of mutant SOD and was present during symptom onset and increases as disease progresses, which may explain the toxic gain of function of mutant SOD. Finally we demonstrate a biphasic effect of riluzole on trophic factor production and propose changes in administration to improve effects in ALS patients

The search for stability through stabilisation: case studies from Afghanistan and Nepal

© Cranfield UniversityThis thesis focuses on what stability is, and what interventions have supported stability in four communities in Afghanistan and Nepal. It is the author’s view that this is the first in-depth village level assessment of how populations conceive of stability and stabilisation and thus presents a challenge to existing analysis and research about how to foster stability in contexts in extreme tension and often violent conflict. The thesis argues that international, particularly Western, notions of stability and stabilisation processes have failed to grasp the importance of local political legitimacy formation, which is a vital aspect of contemporary statebuilding of a ‘non-Westphalian’ nature. The interventions, across defence, diplomatic and defence lines, have also at times undermined one another and in some cases contributed to instability. This is particularly acute when the interventions have been motivated by the conflicting demands of statebuilding, counter-insurgency (COIN) and development theories. The thesis argues that the nature of the interventions, their conception of stability and exogenously-driven goals limit the ability to promote stability. Research findings indicate that that local processes of stabilisation have, at times, proven to be more enduring but only in circumstances where a combination of local and national political processes have allowed political legitimacy to be formed and maintained. Research findings also suggest that the more successful stability interventions have been critically supported by humanitarian and security activities which have provided for the immediate needs of the population. Longer term stability has only been embedded in contexts which have also been able to exploit economic opportunities

Inverse results for weighted Harborth constants

For a finite abelian group $(G,+)$ the Harborth constant is defined as the smallest integer $\ell$ such that each squarefree sequence over $G$ of length $\ell$ has a subsequence of length equal to the exponent of $G$ whose terms sum to $0$. The plus-minus weighted Harborth constant is defined in the same way except that the existence of a plus-minus weighted subsum equaling $0$ is required, that is, when forming the sum one can chose a sign for each term. The inverse problem associated to these constants is the problem of determining the structure of squarefree sequences of maximal length that do not yet have such a zero-subsum. We solve the inverse problems associated to these constant for certain groups, in particular for groups that are the direct sum of a cyclic group and a group of order two. Moreover, we obtain some results for the plus-minus weighted Erd\H{o}s--Ginzburg--Ziv constant

The Importance of Foreign Language Education at the Elementary Level

This literature review looks at the benefits of teaching foreign language at the elementary level versus at the secondary level. The review examines the linguistic and cognitive benefits of learning a foreign language at different levels. Young children are slower at learning languages than adolescent learners, in all aspects of language. However, young children gain many cognitive advantages from learning a foreign language and are more likely to become indistinguishable from native speakers. Foreign languages should be taught at the elementary level because it helps with literacy in English, it enhances problem solving, attentional control and the ability to switch tasks, but most importantly, young children are intrinsically better language learners, and will, therefore, become more proficient and retain more as early exposure will increase the amount of input

Molecular Level Characterization of Dissolved Organic Matter Integrating Trapped Ion Mobility Spectrometry and Fourier Transform Ion Cyclotron Resonance Mass Spectrometry

Dissolved organic matter (DOM) is an extremely complex mixture of organic molecules ubiquitous in aquatic systems and a critical component of the global carbon cycle. Little is known about DOM structural composition at the molecular level. The work presented in this dissertation summarizes the development of a novel analytical toolbox based on trapped ion mobility spectrometry and Fourier transform ion cyclotron resonance mass spectrometry (TIMS-FT-ICR MS) that has significantly contributed to expand our knowledge of DOM molecular complexity and diversity. The TIMS-FT-ICR MS/MS analysis provided for the first-time lower and upper estimation of the molecular isomeric diversity. The TIMS-FT-ICR MS/MS methodology was further developed to allow for chemical formula-based isomeric and neutral loss fragmentation structural description and database validation. This novel procedure enabled the unambiguous assignment of candidate isomeric structures based on accurate mass, database MS/MS matching scores, and ion mobility. A fast and routine structural characterization DOM workflow method was developed: GraphDOM. The method utilizes neutral loss fragmentation patterns acquired using continuous accumulation of selected ions (CASI)-collision induced dissociation (CID) FT-ICR MS/MS. The neutral mass loss patterns are used to define structural families leading to the identification and visualization of the DOM transformational processes. The GraphDOM methodology was successfully applied to the characterization of DOM along a salinity transect of the Harney River, Florida Everglades. The GraphDOM method was further implemented with isomeric content description at the molecular level and applied to four common aquatic systems. The application of the GraphDOM methodology allowed for the first time identification of common and unique DOM transformational networks across aquatic ecosystems

Designing a robot to evaluate group formations

Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behaviors in order to become a social robot. This dissertation focuses on the problem of how to develop a robotic platform in order to validate human-robot interaction experiences in realistic environments. More specifically, we are concerned with social interactions in human-robot groups in public scenarios, where a variety of people can converge. Our final goal is the develop of a social robot based on certain theories of group behavior and the use of space, known as spatial relationships. The intermediate goals are related with the design and development of the experiences in the wild: as minor changes as possible in the scenario, definition of social tasks, gradual development of a robotic platform as transparent as possible from the robotic side. Initially, this research introduces several preliminary studies of human-robot interaction (HRI) with the PAL Robotics’ REEM robot at the CosmoCaixa Science Museum in Barcelona. Based on certain theories about the use of space as a form of social communication or interaction, the task under study with the commercial robot is as a museum guide, both when the group was in motion (\ie when it was being guided) as well as a group in a static place. Moreover, a second HRI study with REEM robot accomplishing the task of a teacher's assistant was carried out to analyze the perception of the robot's social presence and identity. Likewise, the development of a robotic platform, known as MASHI, for the study of HRI is presented. Based on the service to be completed by the robot, improvements in the experimental robotic platform (structure, morphology, head, face, arms) were carried out in continuous cycles following the development of HRI experiences. This structure should be hold as simple as possible in order to make it `transparent' in the social HRI study. Next, the field study of human-robot social interaction with the MASHI robot with the role of exhibition guide in a cultural center is presented. Based on direct observation techniques, a study is made of the different spatial relationships that are generated when a robot interacts with a person or groups of people. Finally, a novel approach to represent the spatial relationships of HRI in a qualitative way is introduced for future experiences. In this concluding study, we analyze different spatial arrangements generated in a social scenario with a robot within the guide role. As a main conclusion, it can be stated that people follow social norms, in the form of spatial relationships, when interacting with a robot that provide a social service in a public space. Children, however, recurrently challenge these social norms, probably because they are constantly learning about the norms that regulate our coexistence. Spatial relationships are clearly reinforced when the role assigned to the robot is more explicit and understood by people. Spatial relationships can be affected by the characteristics of the environment, either by the available space or by the elements arranged in it, as well as by the number of people who inhabit it. Overall, this dissertation points out that the provided service, and its understanding from the user’s side, is more important that the robotic skills of the robotic platform in order to improve user experiences in public environments.Los robots se abren paso en entornos habitados por personas. Ya sea en entornos domésticos o públicos, los robots deben tener en cuenta ciertas normas y comportamientos sociales para convertirse en un robot social. Esta disertación se centra en el problema de cómo desarrollar una plataforma robótica para validar experiencias de interacción humano-robot en entornos realistas. Más específicamente, nos preocupamos por las interacciones sociales en grupos humano-robot en escenarios públicos, donde una gran variedad de personas puede converger. Nuestro objetivo final es el desarrollo de un robot social basado en ciertas teorías de comportamiento grupal y el uso del espacio, conocidas como relaciones espaciales. Los objetivos intermedios están relacionados con el diseño y desarrollo de las experiencias `en la naturaleza': cambios mínimos como sea posible en el escenario, definición de tareas sociales, desarrollo gradual de una plataforma robótica lo más transparente posible desde el lado robótico. Inicialmente, esta investigación presenta varios estudios preliminares de interacción humano-robot (HRI) con el robot REEM de PAL Robotics en el Museo de Ciencias CosmoCaixa de Barcelona. Basado en ciertas teorías sobre el uso del espacio como una forma de comunicación o interacción social, la tarea en este estudio con el robot comercial es como guía de museo, tanto cuando el grupo estaba en movimiento (es decir, cuando estaba siendo guiado) como cuando el grupo estaba en un lugar estático. Además, se llevó a cabo un segundo estudio de HRI con un robot REEM que realizaba la tarea de un asistente de profesor para analizar la percepción de la presencia e identidad social del robot. Asimismo, se presenta el desarrollo de una plataforma robótica, conocida como MASHI, para el estudio de la HRI. En función del servicio que debe completar el robot, las mejoras en la plataforma robótica experimental (estructura, morfología, cabeza, cara, brazos) se llevaron a cabo en ciclos continuos siguiendo el desarrollo de las experiencias de HRI. Esta estructura debe mantenerse lo más simple posible para que sea 'transparente' en el estudio de HRI social. A continuación, se presenta el estudio de campo de la interacción social humano-robot con el robot MASHI con el papel de guía de exposición en un centro cultural. Con base en técnicas de observación directa, se realiza un estudio de las diferentes relaciones espaciales que se generan cuando un robot interactúa con una persona o grupos de personas. Finalmente, se introduce un enfoque novedoso para representar las relaciones espaciales de la HRI de forma cualitativa para las experiencias futuras. En este estudio final, analizamos diferentes arreglos espaciales generados en un escenario social con un robot con el rol de guía. Como conclusión principal, se puede afirmar que las personas siguen normas sociales, en forma de relaciones espaciales, cuando interactúan con un robot que brinda un servicio social en un espacio público. Los niños, sin embargo, desafían recurrentemente estas normas sociales, probablemente porque están aprendiendo constantemente sobre las normas que regulan nuestra convivencia. Las relaciones espaciales se refuerzan claramente cuando el rol asignado al robot es más explícito y entendido por las personas. Las relaciones espaciales pueden verse afectadas por las características del entorno, ya sea por el espacio disponible o por los elementos dispuestos en él, así como por el número de personas que lo habitan. En general, esta disertación señala que el servicio prestado, y su comprensión del lado del usuario, es más importante que las habilidades robóticas de la plataforma robótica con el fin de mejorar las experiencias del usuario en entornos público

PERBANDINGAN CAPAIAN PEMBELAJARAN MODEL COOPERATIVE LEARNING DAN MODEL PEMBELAJARAN CERAMAH DI SMK PANGUDI LUHUR RAHAYU II CIJANTUNG

Improving the quality of education and development of learning process is a problem that always demands attention. Differences between students absorb the level of the other students to learning materials demands a teacher to make innovations in learning so that not only presents the material, but also need to use appropriate methods, liked,and students easy to understand. Especially in art learning, teacher innovation in teaching is very necessary for improving student learning outcomes. In this research, the researcher compared two methods of learning Cooperative Learning and Lecture as a compare in the learning process of music art. To study it, this research can do with the formulation of the problem such as: How is the comparison of students learning achievement between lessons cooperative learning model and lecture? The result of the research shows that: (1) Using the Cooperative Learning method can improve students learning outcomes compared to Lecture method on vocal test, ensemble and skill, (2) there is significant influence between Cooperative Learning method and students learning outcomes with sig t 0,000 &lt; 0, 05 it means there is a significant relationship. Based on the results of research can give suggestions such as : (1) The teachers can use cooperative learning method to improve the willingness of students and learning outcomes in follow the lessons, (2) need to do further research to determine the other influence of learning models to improve learning outcomes and students interest to learn