To improve security, the Afghanistan government needs to focus on urbanisation

Despite improved education, highways, and myriad other rural development projects, Afghanistan continues to face grave security issues. Rustam Ali Seerat argues that a government drive towards urbanisation may be the solution instead of trying to control sparsely populated territories

Boosting Performance of Visual Servoing Using Deep Reinforcement Learning From Multiple Demonstrations

In this study, knowledge of multiple controllers was used and combined with deep reinforcement learning (RL) to train a visual servoing (VS) technique. Deep RL algorithms were successful in solving complicated control problems, however they generally require a large amount of data before they achieve an acceptable performance. We developed a method that generates online hyper-volume action bounds from demonstrations of multiple controllers (experts) to address the issue of insufficient data in RL. The agent then continues to explore the created bounds to find more optimized solutions and gain more rewards. By doing this, we cut out pointless agent explorations, which results in a reduction in training time as well as an improvement in performance of the trained policy. During the training process, we used domain randomization and domain adaptation to make the VS approach robust in the real world. As a result, we showed a 51% decrease in training time to achieve the desired level of performance, compared to the case when RL was used solely. The findings showed that the developed method outperformed other baseline VS methods (image-based VS, position-based VS, and hybrid-decoupled VS) in terms of VS error convergence speed and maintained higher manipulability

Robust Contact-Rich Task Learning With Reinforcement Learning and Curriculum-Based Domain Randomization

We propose a framework for contact-rich path following with reinforcement learning based on a mixture of visual and tactile feedback to achieve path following on unknown environments. We employ a curriculum-based domain randomisation approach with a time-varying sampling distribution, rendering our approach is robust to parametric uncertainties in the robot-environment system. Based on evaluation in simulation for compliant path-following case studies with a random uncertain environment, and comparison with LBMPC and FDM methods, the robustness of the obtained policy over a stiffness range 104 – 109 N/m and friction range 0.1–1.2 is demonstrated. We extend this concept to unknown surfaces with various surface curvatures to enhance the robustness of the trained policy in terms of changes in surfaces. We demonstrate ∼15× improvement in trajectory accuracy compared to the previous LBMPC method and ∼18× improvement compared to using the FDM approach. We suggest the applications of the proposed method for learning more challenging tasks such as milling, which are difficult to model and dependent on a wide range of process variables

An online hyper‐volume action bounding approach for accelerating the process of deep reinforcement learning from multiple controllers

This paper fuses ideas from reinforcement learning (RL), Learning from Demonstration (LfD), and Ensemble Learning into a single paradigm. Knowledge from a mixture of control algorithms (experts) are used to constrain the action space of the agent, enabling faster RL refining of a control policy, by avoiding unnecessary explorative actions. Domain‐specific knowledge of each expert is exploited. However, the resulting policy is robust against errors of individual experts, since it is refined by a RL reward function without copying any particular demonstration. Our method has the potential to supplement existing RLfD methods when multiple algorithmic approaches are available to function as experts, specifically in tasks involving continuous action spaces. We illustrate our method in the context of a visual servoing (VS) task, in which a 7‐DoF robot arm is controlled to maintain a desired pose relative to a target object. We explore four methods for bounding the actions of the RL agent during training. These methods include using a hypercube and convex hull with modified loss functions, ignoring actions outside the convex hull, and projecting actions onto the convex hull. We compare the training progress of each method using expert demonstrators, employing one expert demonstrator with the DAgger algorithm, and without using any demonstrators. Our experiments show that using the convex hull with a modified loss function not only accelerates learning but also provides the most optimal solution compared with other approaches. Furthermore, we demonstrate faster VS error convergence while maintaining higher manipulability of the arm, compared with classical image‐based VS, position‐based VS, and hybrid‐decoupled VS

Pengaruh Pemahaman Bahasa Arab terhadap Istinbāṭ Hukum Fikih

This research aims to find out the extent of the influence of understanding Arabic on istinbāṭ law of jurispruding. This research is qualitative descriptive research focused on the study of manuscripts and texts with a philosophical approach. The results showed that: first, Arabic has a massive urgency to the sciences of Sharia; Second, arabic has a significant impression of the determination of jurisprudence which is indicated by the disagreements that occur among fuqahā' in many problems of Islamic jurisprudence due to differences in viewpoints in understanding propositions based on dilālah al-alfaż

Brand preference in Islamic banking

Previous literature suggests that factors such as banks’ strong Islamic reputation as well as better financial and banking services are to be among the leading factors in the selection of the respective Islamic bank. The aim of this study would be to examine the bank selection criteria being employed by students in Malaysia. This empirical study will consists of approx. 300 respondents of the International Islamic University Malaysia, main campus will serve as a sample for the study. The choice of younger customer would reflect the future potential market for Islamic banking marketing services whose average age would be between 19 to 25 years. Our empirical study would be relied on 5 selection factors extracted from relevant literature, personal experience and interviews with some bank officials and college students. This study may be also designed to examine this young group of customers’ knowledge of Islamic banking and the factors to be considered in the process of selecting an Islamic bank would be by demographic group and socio-economic characteristics. The data so collected from the study will be analysed by SPSS Program, mean factor analysis and then factor analysis to enhance the quality of the empirical survey. The main implication of this study is to help marketing executives in the Islamic banks to plan better marketing strategies that would attract new customers as well as retain the existing ones, given the high competitive environment dominating the financial industry

Role of the Masjid in disaster management: preliminary investigation of evidences from Asia

The Masjid (Mosque in English) has historically played a vital role in the spiritual, moral and social upliftment of the Muslim community. Nevertheless, the role of the masjid has remained largely undocumented, and unrecognised in the development and disaster studies. Although the role of the masjid in disaster situations in many Muslim countries is evident, very little study has been undertaken to document its role as a development agent. Hence, investigating the potential of the masjid in disaster situation is an effort to describe and explore the functions and roles of a mosque in responding to a disaster. It has been remarked that the masjid has the potential to play a role in disaster management in early warning systems, as an information centre, an evacuation site and even with contingency planning. The role of the masjid during emergency response has received appreciation from the victims and the community. However, the potential has not yet been fully explored. Therefore, the main purpose of this paper is to explore and document the role the masjid has played in disaster management in various Asian countries and based on it develop a model of the potential role, the mosque can play in building the community resilience for disaster management in the Muslim countries

Role of the masjid in disaster management: Preliminary investigation of evidences from Asia

The Masjid (Mosque in English) has historically played a vital role in the spiritual, moral and social upliftment of the Muslim community. Nevertheless, the role of the masjid has remained largely undocumented, and unrecognised in the development and disaster studies. Although the role of the masjid in disaster situations in many Muslim countries is evident, very little study has been undertaken to document its role as a development agent. Hence, investigating the potential of the masjid in disaster situation is an effort to describe and explore the functions and roles of a mosque in responding to a disaster. It has been remarked that the masjid has the potential to play a role in disaster management in early warning systems, as an information centre, an evacuation site and even with contingency planning. The role of the masjid during emergency response has received appreciation from the victims and the community. However, the potential has not yet been fully explored. Therefore, the main purpose of this paper is to explore and document the role the masjid has played in disaster management in various Asian countries and based on it develop a model of the potential role, the mosque can play in building the community resilience for disaster management in the Muslim countries

Towards Reuse and Recycling of Lithium-ion Batteries: Tele-robotics for Disassembly of Electric Vehicle Batteries

Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user's haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-'cobot' master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%-57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10-30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks.Comment: 21 pages, 12 figures, Submitted to Frontiers in Robotics and AI; Human-Robot Interactio

Epidemiological Survey of Bovine Babesia and Theileria Parasites in Buffaloes in District Dera Ismail, Khyber Pakhtunkhwa

Piroplasmosis (babesiosis and theileriosis) are the leading blood parasites responsible for significant economic losses to the dairy enterprises. These parasites are transmitted by Ixodid ticks from a diseased animal to a healthy animal. This study was executed to determine the prevalence of Theileria and Babesia in water buffaloes in District Dera Ismail Khan for their risk assessment. During this trial, 350 random blood samples were obtained from buffalos within the region of District Dera Ismail Khan and examined for Babesia and Theileria parasites using Giemsa staining technique under an oil immersion lens. Forty-eight blood samples were found positive and the prevalence of Babesiosis was 7.43 %, followed by the prevalence of Theileriosis (6.28 %). Babesiosis had a significantly higher (p \u3c 0.05) prevalence among both males and females (6.9 % and 7.7 %, respectively) followed by Theileria (5.38 % and 6.8 %, respectively). The significantly highest (p \u3c 0.05) prevalence of Theileria was seen in calves younger than 2 years (16.7 %). Babesiosis was most prevalent (p \u3c 0.05) in calves aged 2 to 5 (11.7 %). The Kundhi buffalo breed had the highest (p \u3c 0.05) prevalence of babesiosis, followed by the Nili Ravi breed, while, the Nili Ravi breed had the highest frequency (p \u3c 0.05)of Theileria. Piroplasmosis prevalence significantly (p \u3c 0.05) peaked in the summer season. Piroplasmosisis the major risk factor in endangering the general health of the buffalo’s population, therefore, stringent control measures are recommended for the management of the tick population