Kontextsensitive Körperregulierung für redundante Roboter

In the past few decades the classical 6 degrees of freedom manipulators' dominance has been challenged by the rise of 7 degrees of freedom redundant robots. Similarly, with increased availability of humanoid robots in academic research, roboticists suddenly have access to highly dexterous platforms with multiple kinematic chains capable of undertaking multiple tasks simultaneously. The execution of lower-priority tasks, however, are often done in task/scenario specific fashion. Consequently, these systems are not scalable and slight changes in the application often implies re-engineering the entire control system and deployment which impedes the development process over time. This thesis introduces an alternative systematic method of addressing the secondary tasks and redundancy resolution called, context aware body regulation. Contexts consist of one or multiple tasks, however, unlike the conventional definitions, the tasks within a context are not rigidly defined and maintain some level of abstraction. For instance, following a particular trajectory constitutes a concrete task while performing a Cartesian motion with the end-effector represents an abstraction of the same task and is more appropriate for context formulation. Furthermore, contexts are often made up of multiple abstract tasks that collectively describe a reoccurring situation. Body regulation is an umbrella term for a collection of schemes for addressing the robots' redundancy when a particular context occurs. Context aware body regulation offers several advantages over traditional methods. Most notably among them are reusability, scalability and composability of contexts and body regulation schemes. These three fundamental concerns are realized theoretically by in-depth study and through mathematical analysis of contexts and regulation strategies; and are practically implemented by a component based software architecture that complements the theoretical aspects. The findings of the thesis are applicable to any redundant manipulator and humanoids, and allow them to be used in real world applications. Proposed methodology presents an alternative approach for the control of robots and offers a new perspective for future deployment of robotic solutions.Im Verlauf der letzten Jahrzehnte wich der Einfluss klassischer Roboterarme mit 6 Freiheitsgraden zunehmend denen neuer und vielfältigerer Manipulatoren mit 7 Gelenken. Ebenso stehen der Forschung mit den neuartigen Humanoiden inzwischen auch hoch-redundante Roboterplattformen mit mehreren kinematischen Ketten zur Verfügung. Diese überaus flexiblen und komplexen Roboter-Kinematiken ermöglichen generell das gleichzeitige Verfolgen mehrerer priorisierter Bewegungsaufgaben. Die Steuerung der weniger wichtigen Aufgaben erfolgt jedoch oft in anwendungsspezifischer Art und Weise, welche die Skalierung der Regelung zu generellen Kontexten verhindert. Selbst kleine Änderungen in der Anwendung bewirken oft schon, dass große Teile der Robotersteuerung überarbeitet werden müssen, was wiederum den gesamten Entwicklungsprozess behindert. Diese Dissertation stellt eine alternative, systematische Methode vor um die Redundanz neuer komplexer Robotersysteme zu bewältigen und vielfältige, priorisierte Bewegungsaufgaben parallel zu steuern: Die so genannte kontextsensitive Körperregulierung. Darin bestehen Kontexte aus einer oder mehreren Bewegungsaufgaben. Anders als in konventionellen Anwendungen sind die Aufgaben nicht fest definiert und beinhalten eine gewisse Abstraktion. Beispielsweise stellt das Folgen einer bestimmten Trajektorie eine sehr konkrete Bewegungsaufgabe dar, während die Ausführung einer Kartesischen Bewegung mit dem Endeffektor eine Abstraktion darstellt, die für die Kontextformulierung besser geeignet ist. Kontexte setzen sich oft aus mehreren solcher abstrakten Aufgaben zusammen und beschreiben kollektiv eine sich wiederholende Situation. Durch die Verwendung der kontextsensitiven Körperregulierung ergeben sich vielfältige Vorteile gegenüber traditionellen Methoden: Wiederverwendbarkeit, Skalierbarkeit, sowie Komponierbarkeit von Konzepten. Diese drei fundamentalen Eigenschaften werden in der vorliegenden Arbeit theoretisch mittels gründlicher mathematischer Analyse aufgezeigt und praktisch mittels einer auf Komponenten basierenden Softwarearchitektur realisiert. Die Ergebnisse dieser Dissertation lassen sich auf beliebige redundante Manipulatoren oder humanoide Roboter anwenden und befähigen diese damit zur realen Anwendung außerhalb des Labors. Die hier vorgestellte Methode zur Regelung von Robotern stellt damit eine neue Perspektive für die zukünftige Entwicklung von robotischen Lösungen dar

Self-Supervised Representation Learning for Online Handwriting Text Classification

Self-supervised learning offers an efficient way of extracting rich representations from various types of unlabeled data while avoiding the cost of annotating large-scale datasets. This is achievable by designing a pretext task to form pseudo labels with respect to the modality and domain of the data. Given the evolving applications of online handwritten texts, in this study, we propose the novel Part of Stroke Masking (POSM) as a pretext task for pretraining models to extract informative representations from the online handwriting of individuals in English and Chinese languages, along with two suggested pipelines for fine-tuning the pretrained models. To evaluate the quality of the extracted representations, we use both intrinsic and extrinsic evaluation methods. The pretrained models are fine-tuned to achieve state-of-the-art results in tasks such as writer identification, gender classification, and handedness classification, also highlighting the superiority of utilizing the pretrained models over the models trained from scratch

Evaluating the role of the image of the destination on the loyalty of Zanjan tourists with a data mining approach

Introduction: Knowing what the loyalty of tourists in tourist destinations depends on and how it is formed has become a principle for managers of companies and tourist destinations. A tourist destination, like any organization, must identify, attract and retain its target market. Creating any transformation and standardization of tourism services in Zanjan city requires knowing tourism capacities, conducting comparative studies, knowing the experiences of other successful countries in the world and localizing these experiences. Zanjan city has not been able to attract tourists like many of them, despite having significant tourist attractions in comparison with the cities of neighboring provinces.Data and Method: The type of research is applied and descriptive-analytical in nature. The statistical population of this research includes tourists with at least one night stay in three and four star hotels in Zanjan city, and 281 tourists were investigated using Cochran's formula. The method of collecting information is library and field.Results: The results of the research show that in the final analysis of the factor analysis of the image of the destination, it has the greatest to the least effect on the novelty of the trip, the cost of the trip, the financial cost, and the number of trips, respectively, with the factor load values of 0.481, 0.354, and 0.301. and has 0.247 on the loyalty of tourists.Conclusion: Zanjan province is in its initial stages in terms of life cycle in the field of tourism and the sensitivity of the issue is due to the fact that this percentage can act as ambassadors who give information to others about this destination and a kind of free word-of-mouth advertising. They will do for Zanjan and depending on the image of Zanjan formed in their minds, these advertisements can be positive or negative

The study of upper gastrointestinal endoscopy in patients with inflammatory bowel disease and ulcerative colitis

زمینه و هدف: در بررسی های تشخیصی بیماری های التهابی روده، یکی از موارد تشخیصی انجام آندوسکوپی فوقانی است که علاوه بر تأیید تشخیص، در افتراق کولیت های نامشخص نیز کمک کننده است. هدف از این مطالعه بررسی لزوم انجام آندوسکوپی فوقانی در بیماران مبتلا به التهاب روده بوده است. روش بررسی: در این مطالعه توصیفی- تحلیلی تعداد 30 کودک در بیمارستان مرکز طبی به صورت سرشماری از مهر 1388 تا اسفند 1389 که به عنوان بیماری کرون و کولیت اولسراتیو به تشخیص قطعی رسیدند؛ تحت انجام آندوسکوپی فوقانی قرار گرفتند و داده ها با استفاده از نرم افزارSPSS و آزمون آماری t-test تجزیه و تحلیل شدند. یافته ها: از30 کودک با تشخیص بیماری التهابی روده، تعداد 15 بیمار دچار کرون و مابقی کولیت اولسراتیو داشتند. نتایج مطالعه حاضر حاکی از درگیری ماکروسکوپی مری در 93 بیماران، درگیری معده در 87 و درگیری دئودنوم در 26 بیماران با تشخیص کرون بود. در بیماران کولیت اولسراتیو درگیری مری 80، معده 66 و دئودنوم 20 بود. از نظر میکروسکوپی در بیماران کرون درگیری مری 94، درگیری معده 80 و در نهایت درگیری دئودنوم 47 مشاهده شد. در بیماران کولیت اولسراتیو از نظر میکروسکوپی 94 درگیری مری، 87 درگیری معده و 67 درگیری دئودنوم داشتند. نتیجه گیری: با توجه به درصد قابل توجه درگیری دستگاه گوارش فوقانی در بیماران با بیماری التهابی روده، انجام آندوسکوپی در تمام بیماران جدا از نوع و محل درگیری و بررسی هیستوپاتولوژیک کاری منطقی و لازم بنظر می رسد

Experimental investigation of low-level water in waste-oil produced biodiesel-diesel fuel blend

Diminishing fuel resources and stringent emission mandates have demanded cleaner combustion and increased fuel efficiency. Three water addition rates, i.e., 2, 4, and 6 wt% in biodiesel-diesel blend (B5) was investigated herein. Combustion characteristics of the emulsified fuel blends were compared in a naturally-aspirated diesel engine at full load and different engine speeds. More specifically, biodiesel was produced from waste cooking oil (WCO) and to further increase waste utilization, recycled biodiesel wastewater was used as additive in B5. The result obtained showed that low-level water addition (i.e., 2 and 4 wt%) in B5 led to different results from those obtained using higher water addition rates (i.e., >5 wt%) reported by the previous studies. In more details, the findings of the present study revealed that low level water addition in B5 could considerably reduce CO, HC, CO2, and NOx emissions. Among water-containing B5 fuel emulsions, the optimal water addition level in terms of engine performance parameters and emissions was found at 4 wt%. In particular, the emitted CO2, HC, and NOx were decreased by over 8.5%, 28%, and 24%, respectively, at maximum speed of 2500 rpm

Forecasting Cryptocurrency Value by Sentiment Analysis: An HPC-Oriented Survey of the State-of-the-Art in the Cloud Era

This chapter surveys the state-of-the-art in forecasting cryptocurrency value by Sentiment Analysis. Key compounding perspectives of current challenges are addressed, including blockchains, data collection, annotation, and filtering, and sentiment analysis metrics using data streams and cloud platforms. We have explored the domain based on this problem-solving metric perspective, i.e., as technical analysis, forecasting, and estimation using a standardized ledger-based technology. The envisioned tools based on forecasting are then suggested, i.e., ranking Initial Coin Offering (ICO) values for incoming cryptocurrencies, trading strategies employing the new Sentiment Analysis metrics, and risk aversion in cryptocurrencies trading through a multi-objective portfolio selection. Our perspective is rationalized on the perspective on elastic demand of computational resources for cloud infrastructures

The global, regional, and national burden of adult lip, oral, and pharyngeal cancer in 204 countries and territories:A systematic analysis for the Global Burden of Disease Study 2019

Importance Lip, oral, and pharyngeal cancers are important contributors to cancer burden worldwide, and a comprehensive evaluation of their burden globally, regionally, and nationally is crucial for effective policy planning.Objective To analyze the total and risk-attributable burden of lip and oral cavity cancer (LOC) and other pharyngeal cancer (OPC) for 204 countries and territories and by Socio-demographic Index (SDI) using 2019 Global Burden of Diseases, Injuries, and Risk Factors (GBD) Study estimates.Evidence Review The incidence, mortality, and disability-adjusted life years (DALYs) due to LOC and OPC from 1990 to 2019 were estimated using GBD 2019 methods. The GBD 2019 comparative risk assessment framework was used to estimate the proportion of deaths and DALYs for LOC and OPC attributable to smoking, tobacco, and alcohol consumption in 2019.Findings In 2019, 370 000 (95% uncertainty interval [UI], 338 000-401 000) cases and 199 000 (95% UI, 181 000-217 000) deaths for LOC and 167 000 (95% UI, 153 000-180 000) cases and 114 000 (95% UI, 103 000-126 000) deaths for OPC were estimated to occur globally, contributing 5.5 million (95% UI, 5.0-6.0 million) and 3.2 million (95% UI, 2.9-3.6 million) DALYs, respectively. From 1990 to 2019, low-middle and low SDI regions consistently showed the highest age-standardized mortality rates due to LOC and OPC, while the high SDI strata exhibited age-standardized incidence rates decreasing for LOC and increasing for OPC. Globally in 2019, smoking had the greatest contribution to risk-attributable OPC deaths for both sexes (55.8% [95% UI, 49.2%-62.0%] of all OPC deaths in male individuals and 17.4% [95% UI, 13.8%-21.2%] of all OPC deaths in female individuals). Smoking and alcohol both contributed to substantial LOC deaths globally among male individuals (42.3% [95% UI, 35.2%-48.6%] and 40.2% [95% UI, 33.3%-46.8%] of all risk-attributable cancer deaths, respectively), while chewing tobacco contributed to the greatest attributable LOC deaths among female individuals (27.6% [95% UI, 21.5%-33.8%]), driven by high risk-attributable burden in South and Southeast Asia.Conclusions and Relevance In this systematic analysis, disparities in LOC and OPC burden existed across the SDI spectrum, and a considerable percentage of burden was attributable to tobacco and alcohol use. These estimates can contribute to an understanding of the distribution and disparities in LOC and OPC burden globally and support cancer control planning efforts

Global, regional, and national burden of colorectal cancer and its risk factors, 1990–2019: a systematic analysis for the Global Burden of Disease Study 2019

Funding: F Carvalho and E Fernandes acknowledge support from Fundação para a Ciência e a Tecnologia, I.P. (FCT), in the scope of the project UIDP/04378/2020 and UIDB/04378/2020 of the Research Unit on Applied Molecular Biosciences UCIBIO and the project LA/P/0140/2020 of the Associate Laboratory Institute for Health and Bioeconomy i4HB; FCT/MCTES through the project UIDB/50006/2020. J Conde acknowledges the European Research Council Starting Grant (ERC-StG-2019-848325). V M Costa acknowledges the grant SFRH/BHD/110001/2015, received by Portuguese national funds through Fundação para a Ciência e Tecnologia (FCT), IP, under the Norma Transitória DL57/2016/CP1334/CT0006.proofepub_ahead_of_prin

Global burden of chronic respiratory diseases and risk factors, 1990–2019: an update from the Global Burden of Disease Study 2019

Background: Updated data on chronic respiratory diseases (CRDs) are vital in their prevention, control, and treatment in the path to achieving the third UN Sustainable Development Goals (SDGs), a one-third reduction in premature mortality from non-communicable diseases by 2030. We provided global, regional, and national estimates of the burden of CRDs and their attributable risks from 1990 to 2019. Methods: Using data from the Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2019, we estimated mortality, years lived with disability, years of life lost, disability-adjusted life years (DALYs), prevalence, and incidence of CRDs, i.e. chronic obstructive pulmonary disease (COPD), asthma, pneumoconiosis, interstitial lung disease and pulmonary sarcoidosis, and other CRDs, from 1990 to 2019 by sex, age, region, and Socio-demographic Index (SDI) in 204 countries and territories. Deaths and DALYs from CRDs attributable to each risk factor were estimated according to relative risks, risk exposure, and the theoretical minimum risk exposure level input. Findings: In 2019, CRDs were the third leading cause of death responsible for 4.0 million deaths (95% uncertainty interval 3.6–4.3) with a prevalence of 454.6 million cases (417.4–499.1) globally. While the total deaths and prevalence of CRDs have increased by 28.5% and 39.8%, the age-standardised rates have dropped by 41.7% and 16.9% from 1990 to 2019, respectively. COPD, with 212.3 million (200.4–225.1) prevalent cases, was the primary cause of deaths from CRDs, accounting for 3.3 million (2.9–3.6) deaths. With 262.4 million (224.1–309.5) prevalent cases, asthma had the highest prevalence among CRDs. The age-standardised rates of all burden measures of COPD, asthma, and pneumoconiosis have reduced globally from 1990 to 2019. Nevertheless, the age-standardised rates of incidence and prevalence of interstitial lung disease and pulmonary sarcoidosis have increased throughout this period. Low- and low-middle SDI countries had the highest age-standardised death and DALYs rates while the high SDI quintile had the highest prevalence rate of CRDs. The highest deaths and DALYs from CRDs were attributed to smoking globally, followed by air pollution and occupational risks. Non-optimal temperature and high body-mass index were additional risk factors for COPD and asthma, respectively. Interpretation: Albeit the age-standardised prevalence, death, and DALYs rates of CRDs have decreased, they still cause a substantial burden and deaths worldwide. The high death and DALYs rates in low and low-middle SDI countries highlights the urgent need for improved preventive, diagnostic, and therapeutic measures. Global strategies for tobacco control, enhancing air quality, reducing occupational hazards, and fostering clean cooking fuels are crucial steps in reducing the burden of CRDs, especially in low- and lower-middle income countries