A Unified Model For Developmental Robotics

We present the architecture and distributed algorithms of an implemented system called NeuSter, that unifies learning, perception and action for autonomous robot control. NeuSter comprises several sub-systems that provide online learning for networks of million neurons on machine clusters. It extracts information from sensors, builds its own representations of the environment in order to learn non-predefined goals

Contribution of CaMKIV to injury and fear- induced ultrasonic vocalizations in adult mice

Calcium-calmodulin dependent protein kinase IV (CaMKIV) is a protein kinase that activates the transcription factor CREB. Our previous work demonstrated that mice lacking CaMKIV had a defect in fear memory while behavioral responses to noxious stimuli were unchanged. Here, we measured ultrasonic vocalizations (USVs) before and after fear conditioning and in response to a noxious injection of capsaicin to measure behavioral responses to emotional stimuli. Consistent with previous findings, behavioral nociceptive responses to capsaicin were undistinguishable between wild-type and CaMKIV(-/- )mice. Wild-type animals showed a selective increase in 50 kHz USVs in response to capsaicin while such an increase was absent in CaMKIV(-/- )mice. The foot shock given during fear conditioning caused an increase in 30 kHz USVs in both wild-type and CaMKIV(-/- )mice. When returned to the context one hour later, USVs from the wild-type were significantly decreased. Additionally, the onset of a tone, which had previously been paired with the foot shock, caused a significant decrease in USVs during auditory conditioning. CaMKIV(-/- )mice showed significantly less reduction in USVs when placed in the same context three days after receiving the shock, consistent with the decrease in freezing reported previously. Our results provide a new approach for investigating the molecular mechanism for emotional vocalization in mice and suggest that CaMKIV dependent signaling pathways play an important role in the emotional response to pain and fear

Producing Periodic Motion for Underactuated Systems

This project considers a special class of aero-dynamics of two different underactuated systems. The two systems under consideration are the Pendubot (actuator at the hip) and the Acrobot (actuator at the knee). The main objectives are to show stability and periodicity of the two systems. The next step is to change the zero-dynamics such that resulting periodic orbits produce walking gait patterns. The stability analysis involves searching for a Lyapunov function which would prove stability and in turn, as can be shown, imply periodicty. The Lyapunov function would also be a powerful help in knowing how to change the zero-dynamics so that desired motions are obtained. However, a Lyapunov function could not be found, which implies that the succeeding steps are hard to make. We present in this work some conclusions that would follow from a Lyapunov function and highlight some properties of the systems. We also show how the Pendubot could be brought to upright position

Analisis Pelaksanaan Kebijakan Penanggulangan Stunting: Studi Kasus di Kabupaten Brebes

ABSTRAKKabupaten Brebes merupakan Kabupaten/Kota yang memiliki prevalensi balita stunting tertinggi di Jawa Tengah dengan prevalensi sebesar 26,3% dan termasuk dalam 100 Kabupaten/Kota lokus prioritas intervensi stunting di Indonesia. Pemerintah Kabupaten Brebes mengeluarkan peraturan berupa Peraturan Bupati Brebes No. 50 tahun 2019 tentang Penanggulangan Stunting yang tujuannya untuk mencegah dan menurunkan angka kasus stunting. Penelitian ini bertujuan untuk mengetahui bagaimana pelaksanaan kebijakan penanggulangan stunting di Kabupaten Brebes dengan teori eksplorasi model implementasi kebijakan George Edward III, Marilee S Grindle, dan Mazmanian & Sabatier dalam perspektif segitiga analisis kebijakan. Jenis penelitian ini adalah penelitian kualitatif dengan pendekatan studi kasus. Analisis data dilakukan dengan cara open coding menggunakan aplikasi QDA Miner Lite. Hasil menunjukan bahwa untuk pelaksanaan kebijakan secara keseluruhan sudah sesuai dengan peraturan yang ada, dari segi pemerintah daerah dan Organisasi Perangkat Daerah (OPD) terkait saling bekerja sama, namun banyak hambatan yang dialami membuat kebijakan ini belum mencapai tujuan dan untuk Perbup tersebut perlu dilakukan revisi agar sesuai dengan Peraturan Presiden yang terbaru yaitu Perpres No.72 tahun 2021.Kata kunci : Penanggulangan; Pelaksanaan Kebijakan; Stunting ABSTRACTBrebes Regency is one of the regencies/cities that have the highest stunting toddler prevalence in Central Java with a prevalence of 26.3% and included in 100 districts/cities the priority locus of stunting interventions in Indonesia. The Brebes Regency Government issued regulations, Brebes Regent Regulation No. 50 of 2019 concerning Stunting Countermeasures whose purpose is to prevent and reduce the number of stunting cases. This study aims to find out how the implementation of stunting countermeasures policies in Brebes Regency with the exploration theory of the policy implementation model of George Edward III, Marilee S Grindle, and Mazmanian & Sabatier in the policy analysis triangle perspective. This type of research is qualitative research with a case study approach. Data analysis was carried out by open coding using the QDA Miner Lite application. The results show that the implementation of policy as a whole is in accordance with existing regulations, from the local government and Regional Apparatus Organization (OPD) related to working together, but many obstacles have been experienced so that have not reached their goals and the Perbup needs to be revised so that it is in accordance with the latest Presidential Regulation that is Perpres No.72 of 2021.Keywords : Countermeasures; Policy Implementation; Stuntin

From emergency to durable water, sanitation and hygiene (WASH) interventions: insights from the protracted Syrian refugee situation in Lebanon

Abstract Emergency water, sanitation and hygiene (WASH) programming often fails to meet defined humanitarian or sectoral standards and the needs of those affected by crises. There have been calls to shift toward more resilient, durable and sustainable WASH interventions. Drawing on a mix of qualitative methods, this paper traces the nature and evolution of the factors affecting different kinds of WASH interventions in Lebanon. Factors contributing to a slow uptake of durable WASH solutions include Lebanon not being a signatory of the 1951 Refugee Convention, a 'no camp' policy adopted by the Government of Lebanon, aid agencies under pressure to cater for lifesaving WASH needs of the Syrian refugees, a lack of sufficient funds, Syrian refugee migration to Europe in 2014, limited Syrian refugee resettlement options, terrorism at the Lebanese border in 2014, as well as fears of nationalization of Syrian refugees – rooted in experiences from the Palestinian refugees in Lebanon. The paper demonstrates that the overall WASH response to Syrian refugees in Lebanon mirrors the interplay between aid agencies, the donor community and the Government of Lebanon. We argue that the Lebanese Government should have acted much earlier and devised a strategy flexible enough to turn a challenge into an opportunity by advocating for funds that allow for durable solutions and sustainable impact on the lives of the Syrian refugees and Lebanese hosting communities. We conclude by highlighting policy and practical lessons for refugee-hosting countries and donor agencies. HIGHLIGHT WASH interventions are used in nearly all emergency contexts to help reduce risks. The unsustainability of emergency WASH interventions has led to attempts for more durable solutions. In Lebanon, durable WASH interventions that benefitted both Syrian refugees and host communities were initiated by the end of 2014. Factors for this shift policy shift mirrors the interplay between aid agencies, the donor community and the Government of Lebanon

Systematic Literature Review: Faktor yang Berhubungan dengan Kepatuhan Peserta PBPU dalam Membayar Iuran JKN

Tingkat kolektibilitas peserta Jaminan Kesehatan Nasional (JKN) yang rendah disebabkan karena rendahnya tingkat kepatuhan dalam membayar iuran. Segmen Peserta Bukan Penerima Upah (PBPU) menunggak iuran paling banyak dibandingkan dengan segmen lain yaitu sebesar Rp5,65 triliun (86,88%). Tinjauan sistematis ini bertujuan untuk meninjau secara sistematis faktor-faktor yang berhubungan dengan kepatuhan peserta PBPU dalam membayar iuran JKN di Indonesia. Metode penelitian adalah systematic literature review yang bersumber dari database PubMed, Google Scholar, dan GARUDA dengan rentang waktu dari tahun 2014-2022. Pencarian dan seleksi artikel dilakukan dengan berpedoman pada protokol PRISMA. Protokol penelitian ini telah terdaftar pada PROSPERO (CRD42022378124). Dari 13 artikel yang dianalisis didapatkan faktor-faktor yang berhubungan dengan kepatuhan peserta PBPU dalam membayar iuran JKN meliputi faktor pendapatan, persepsi, motivasi, pendidikan, pengetahuan, usia, jumlah keluarga, pekerjaan, manfaat program, jarak dan waktu tempuh ke tempat pembayaran. BPJS Kesehatan diharapkan dapat terus berinovasi pada sistem pembayaran dalam program JKN agar memudahkan peserta dalam membayar iuran serta rutin melakukan sosialisasi terkait program JKN secara menyeluruh