Bilevel shared control for teleoperators

A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space

Development of a fuzzy decision support system to determine the severity of obstructive pulmonary in chemical injured victims

Background: Chronic Obstructive Pulmonary Disease (COPD) is the most common known complication of exposure to mustard gas. Thus, all clinical guidelines have provided some recommendation for diagnosis, clinical management and treatment of this disease. Decision support systems are used to increase the acceptance of clinical guidelines. The purpose of this research is to develop a CDSS to determine the severity of COPD in chemical injured victims. Objectives: Development of a decision support system to determine the severity of COPD. Patients and Methods: First, the variables influencing to determining the severity of the disease was classified through studying the clinical guidelines. Then, the fuzzy model was implemented. To testing the system, the data from 50 patients were used. Results: the overall accuracy in determining the severity of the injury is equal to 92, these indicators reflect the proper functioning of the system to assist the physician regarding the diagnosis of chronic obstructive pulmonary disease and determining its severity. Conclusions: The CDSS has efficient results and satisfactory performance. Although, the medical expert systems cannot be expected to provide 100 percent correct responses, however, they can be useful in the areas of patient management, diagnosis and treatment planning. © 2015 Taha Samad-Soltani, Mostafa Ghanei, Mostafa Langarizadeh

Real-Time Implementation of Demand Response Programs Based on Open ADR Technology

In the Demand Response (DR) concepts, we witness several barriers that need to be addressed such as, data transferring from promoting entities to demand side. The Open Automated Demand Response (Open ADR) standard specification is a solution for overcoming these barriers. This PhD work proposes a real business model for DR implementation based on Open ADR technology.The present work was done and funded in the scope of the following projects: H2020 DREAM-GO Project (Marie Sklodowska-Curie grant agreement No 641794); and UID/EEA/00760/2013 funded by FEDER Funds through COMPETE program and by National Funds through FCT.info:eu-repo/semantics/publishedVersio

Minat Belajar Siswa Terhadap Pelaksanaan Jam Belajar Tambahan Pada Mata Pelajaran Pai Kelas VIII

AbstrakPenelitian ini bertujuan untuk mendiskripsikan minat belajar siswa terhadap pelaksanaan jam belajar tambahan pata mata pelajaran PAI Kelas VIII di SMP Negeri 1 Towuti Luwu Timur. Penelitian ini menggunakan jenis penilitian Kualitatif dengan pendekatan Minat belajar siswa dan pelaksanaan jam belajar tambahan. Subjek penelitian ini adalah Guru dan Siswa Kelas VIII SMP Negeri 1 Towuti Luwu Timur. Data yang dikumpulkan melalui observasi, wawancara dan dokumentasi. Hasil penelitian menunjukkan minat belajar siswa terhadap pelaksanaan jam belajar tambahan pada mata pelajaran PAI Kelas VIII di SMP Negeri 1 Towuti Luwu Timur, Yang telah menggunakan banyak jumlah rujukan, menjelaskan materi dengan baik, memancing siswa dalam bertanya dan mampu menjawab pertanyaan dari siswa dan dilihat dari sisi pelaksanaan jam belajar tambahan guru PAI dalam meningkatkan minat belajar siswa yaitu tersedianya sarana dan prasarana sekolah yang mendukung, Jadwal belajar PAI yang mendukung siswa kelas VIII dalam pelaksanaan jam belajar tambahan.Kata Kunci : Minat Belajar Siswa, Pelaksanaan Jam Belajar Tambaha

Peningkatan Pemahaman Konsep Fisika Dengan Menggunakan Metode Penemuan Terbimbing Kelas Viib SMPN 8 Makassar

Penelitian ini bertujuan untuk meningkatkan pemahaman konsep fisika dengan metode penemuan terbimbing pada peserta didik kelas VIIB SMP Negeri 8 Makassar. Jenis penelitian ini adalah classroom action research (penelitian tindakan kelas) yang terdiri dari dua siklus dimana pada siklus pertama dilaksanakan sebanyak tiga kali pertemuan, dan pada siklus ke dua dilaksanakan sebanyak empat kali pertemuan. Subjek dalam penelitian ini adalah peserta didik kelas VIIB SMP Negeri 8 Makassar sebanyak 39 orang. Hasil penelitian menunjukkan bahwa pada siklus pertama yang tuntas secara klasikal dari 39 peserta didik hanya 25 peserta didik atau 64,10% yang memenuhi kriteria ketuntasan minimal (KKM). Secara individual belum terpenuhi karena nilai rata-rata diperoleh sebesar 71,38. Sedangkan pada siklus II dimana dari 39 peserta didik terdapat 30 orang atau 76,92% telah memenuhi KKM dan secara klasikal dan secara individual dengan skor rata-rata yang diperoleh sebesar 77,31. Berdasarkan hasil penelitian tersebut di atas, dapat disimpulkan pemahaman konsep fisika peserta didik kelas VIIB SMP Negeri 8 Makassar melalui penerapan metode penemuan terbimbing mengalami peningkatan.Kata kunci: pemahaman konsep, penemuan terbimbing, kkm, klasikal, skor rata-rataThis study aims to improve understanding of physics concepts with guided discovery method in class students of SMP Negeri VIIB 8 Makassar. This research was classroom action research (action research), which consists of two cycles in which the first cycle meetings held three times, and the cycle to two meetings held four times. Subjects in this study were VIIB class students of SMP Negeri 8 Makassar as many as 39 people. The results showed that in the first cycle is completed in the classical style of 39 students only 25 or 64.10% of learners who meet the minimum completeness criteria (KKM). Individual has not met since the average value obtained was 71.38. While in the second cycle of 39 learners where there are 30 people or 76.92% in compliance and in the classical KKM and individually with an average score of 77.31 earned. Based on the above results, it can be concluded understanding of physics concepts VIIB class students of SMP Negeri 8 Makassar through the application of guided discovery methods have increased

Spesies Lalat Buah Yang Menyerang Sayuran Solanaceae Dan Cucurbitaceae Di Sumatera Selatan

. Herlinda, S., Zuroaidah, Y. Pujiastuti, S. Samad, and T. Adam. 2008. Species of Fruitfly Attacking Solanaceous and Cucurbitaceous Vegetables in South Sumatera. The research was aimed to identify the species of fruitfly infesting Solanaceous and Cucurbitaceous vegetables at the center of vegetable production in South Sumatera. Survey had been conducted in central areas of Solanaceous vegetable (Lycopersicum esculentum Miller, Solanum melongena L., Lycopersicum pimpinellifolium L., and Capsicum annuum L.), and cucurbitaceous vegetable (Cucumis sativus L., Luffa acutangula L., Momordica charantia Linn., and Sechium edule Jack). There were 4 fruitfly species found in South Sumatera, i.e. Bactrocera cucurbitae (Coquillett), Bactrocera dorsalis (Hendel), Bactroceratau (Walker), and Bactrocera umbrosus Fabricius. Among them, B. cucurbitae was found on fruits of C. sativus, L. acutangulata, M. charantia, and S. edule; Bactrocera tau was found on fruits of C. sativus; B. dorsalis was found on fruits of C. annuum, L. esculentum, L. pimpinellifolium, and S. melongena. Three species of fruitfly were trapped by methyl eugenol, namely B. dorsalis, B. cucurbitaceae, and B. umbrosus

Feedback regulation of the heat shock response in E. coli

Survival of organisms in extreme conditions has necessitated the evolution of stress response networks that detect and respond to environmental changes. Among the extreme conditions that cells must face is the exposure to higher than normal temperatures. In this paper, we propose a detailed biochemical model that captures the dynamical nature of the heat-shock response in Escherichia coli. Using this model, we show that both feedback and feedforward control are utilized to achieve robustness, performance, and efficiency of the response to the heat stress. We discuss the evolutionary advantages that feedback confers to the system, as compared to other strategies that could have been implemented to get the same performance

Machine learning methods for automatic silent speech recognition using a wearable graphene strain gauge sensor

Silent speech recognition is the ability to recognise intended speech without audio information. Useful applications can be found in situations where sound waves are not produced or cannot be heard. Examples include speakers with physical voice impairments or environments in which audio transference is not reliable or secure. Developing a device which can detect non-auditory signals and map them to intended phonation could be used to develop a device to assist in such situations. In this work, we propose a graphene-based strain gauge sensor which can be worn on the throat and detect small muscle movements and vibrations. Machine learning algorithms then decode the non-audio signals and create a prediction on intended speech. The proposed strain gauge sensor is highly wearable, utilising graphene’s unique and beneficial properties including strength, flexibility and high conductivity. A highly flexible and wearable sensor able to pick up small throat movements is fabricated by screen printing graphene onto lycra fabric. A framework for interpreting this information is proposed which explores the use of several machine learning techniques to predict intended words from the signals. A dataset of 15 unique words and four movements, each with 20 repetitions, was developed and used for the training of the machine learning algorithms. The results demonstrate the ability for such sensors to be able to predict spoken words. We produced a word accuracy rate of 55% on the word dataset and 85% on the movements dataset. This work demonstrates a proof-of-concept for the viability of combining a highly wearable graphene strain gauge and machine leaning methods to automate silent speech recognition.EP/S023046/

Teaching Excellence: A Reaction to the Smith Commission Report and its Effects

This paper has been written partially in response to the Smith Commission Report, and partially in response to the reactions the report has elicited already. The Smith Commission Report voiced many valid concerns about teaching excellence; however, many of the so-called "innovations" that have been developed in answer to Stuart Smith's call for teaching excellence are, in fact, little different from those techniques implemented under the auspices of the Ontario Universities Program for Institutional Development (OUPID) in the 1960's and early 1970's. This being the case, the authors feel that the most likely result will be a similar lack of success. It is, therefore, our suggestion that an attempt ought to be made to change the infrastructure of the university sys- tem so that it supports good teaching and research with equal measure. This, above all else, should lead to real improvements in the quality of teaching

A multi-agent system for a bus crew rescheduling system

Unpredictable events (UE) are major factors that cause disruption to everyday bus operation. In the occurrence of UE, the main resources - crews and vehicles - are affected, and this leads to crew schedule disruption. One way to deal with the problem is crew rescheduling. Most of the current approaches are based on static schedules do not support rescheduling in a real-time scenario. They have the ability to reschedule but a new complete schedule is produced without concerning the real time situation. The mathematical approaches which are used by most scheduling packages have the ability to search for optimum or near optimum schedules but they are usually slow to produce results in real-time because they are computationally intensive when faced with complex situations. In practice, crew or bus rescheduling is managed manually, based on the supervisor's capabilities and experience in managing UE. However, manual rescheduling is complex, prone to error and not optimum, especially when dealing with many UE at the same time. This research proposes the CRSMAS (Crew Rescheduling System with Multi Agent System) approach as an alternative that may help supervisors to make quick rescheduling decisions by automating the crew rescheduling process. A Multi Agent System (MAS) is considered suitable to support this rescheduling because agents can dynamically adapt their behaviour to changing environments and they can find solutions quickly via negotiations and cooperation between them. To evaluate the CRSMAS, two types of experiment are carried out: Single Event and Multiple Events. The Single Event experiment is used to find characteristics of crew schedules that influence the crew rescheduling process while the Multiple Events experiment is used to test the capability of CRSMAS in dealing with numerous events that occur randomly. A wide range of simulation results, based on real-world data, are reported and analysed. Based on the experiment it is concluded that CRSMAS is suitable for automating the crew rescheduling process and capable of quick rescheduling whether facing single events or multiple events at the same time, the success of rescheduling is not only dependant on the tool but also to other factors such as the characteristics of crew schedules and the period of the UE, and one limitation of CRSMAS that was discovered is it cannot simulate different type of events at the same time. This limitation is because in different events there are different rules but, in Virtual World, agents can only negotiate with one set of rules at a time.EThOS - Electronic Theses Online ServiceUniversiti Teknikal Malaysia Melaka (UTeM)GBUnited Kingdo