User evaluation of an interactive learning framework for single-arm and dual-arm robots

The final publication is available at link.springer.comSocial robots are expected to adapt to their users and, like their human counterparts, learn from the interaction. In our previous work, we proposed an interactive learning framework that enables a user to intervene and modify a segment of the robot arm trajectory. The framework uses gesture teleoperation and reinforcement learning to learn new motions. In the current work, we compared the user experience with the proposed framework implemented on the single-arm and dual-arm Barrett’s 7-DOF WAM robots equipped with a Microsoft Kinect camera for user tracking and gesture recognition. User performance and workload were measured in a series of trials with two groups of 6 participants using two robot settings in different order for counterbalancing. The experimental results showed that, for the same task, users required less time and produced shorter robot trajectories with the single-arm robot than with the dual-arm robot. The results also showed that the users who performed the task with the single-arm robot first experienced considerably less workload in performing the task with the dual-arm robot while achieving a higher task success rate in a shorter time.Peer ReviewedPostprint (author's final draft

Human Resource Management Between Economy and Ethics – Research of Serbia and Bosnia and Hercegovina

This paper discusses economic and ethical issues that bring about certain limitations in human resource management as one of the basic organizational functions, through which the organization’s relationship with employees is expressed. The aim of this paper is to point out the ethical dimension of human resource management as a key organizational function, which has economic, but at the same time ethical responsibilities. In elaborating this problem, we started from the basic assumption that human resource management as an organizational function and theoretical concept should balance between economic and ethical requirements, which depends on the attitudes of managers as decision makers. In addition to the analysis of the existing literature in this field, an empirical research was conducted to verify the stated assumptions on the basis of a survey questionnaire, which explored the attitudes of managers

A RISC-V Vector Processor With Simultaneous-Switching Switched-Capacitor DC-DC Converters in 28 nm FDSOI

This work demonstrates a RISC-V vector microprocessor implemented in 28 nm FDSOI with fully integrated simultaneous-switching switched-capacitor DC-DC (SC DC-DC) converters and adaptive clocking that generates four on-chip voltages between 0.45 and 1 V using only 1.0 V core and 1.8 V IO voltage inputs. The converters achieve high efficiency at the system level by switching simultaneously to avoid charge-sharing losses and by using an adaptive clock to maximize performance for the resulting voltage ripple. Details about the implementation of the DC-DC switches, DC-DC controller, and adaptive clock are provided, and the sources of conversion loss are analyzed based on measured results. This system pushes the capabilities of dynamic voltage scaling by enabling fast transitions (20 ns), simple packaging (no off-chip passives), low area overhead (16%), high conversion efficiency (80%-86%), and high energy efficiency (26.2 DP GFLOPS/W) for mobile devices

Photoinduced processes, radiation interaction with material and damages - material hardness

Photo and nuclear radiation induced processes are considered through the interaction of radiation with semiconducting, metallic and other materials, including the scintillator materials. The improvement of component efficiency by the use of quantum generators, trimming and hybrid processes with nuclear radiation has been analyzed. The studied processes can be positive or negative depending on application. Besides the experimental approach to the processes and chosen interactions, the analytical description of our experiments, as well as ones from other references, has been performed. The contemporary couplings between the nuclear physics, laser techniques and respective dosimetric aspects have been considered

Uticaj metoda oplodnje genotipa, pola i tipa rođenja na porast jagnjadi

Estrus synchronization methods was use to control the reproductive traits of sheep, as well as bringing more females at the same stage of estrus and ovulation. According to the points mentioned above, the aim of the present study was to investigate and compare mating method and influence of fixed factors on birth and weaning weight of lambs. Statistical analysis showed that exist difference in the body weights between genotypes of lambs. In the first group, the difference in weight of lambs at birth, regardless of mating method was not significant (P> 0.05), while in the second group, the difference was slightly significant (P (lt) 0.05). As for the birth type, sex and within the same genotype, there was a statistical significance (P (lt) 0.05) between singles obtained naturally, between the triplets obtained naturally and between triplets received hormonal method. All the differences between body weight at 30 days (mating method, sex and birth type under the same genotype) were statistically significant (P (lt) 0.05).The determined differences in the body weights at 60 days (sex, mating method and type of birth under the same genotype) were statistically significant (P (lt) 0.05). The results showed that the differences (mating method, sex and type of birth under the same genotype) were statistically significant (P (lt) 0.05), except in between body weight at 90 days in twins among two genotypes obtained by natural method, which were not statistically significant (P> 0.05).Metod sinhronizacije estrusa se koristi da kontroliše reproduktivne osobine ovaca. Cilj ovog rada bio je da se ispita i uporedi način parenja i uticaj osnovnih fiksnih faktora na masu jagnjadi. Statistička analiza je pokazala da je razlika telesne mase između grupa jagnjadi na rođenju bila statistički značajna. U prvoj grupi, razlika u masi jagnjadi na rođenju, zavisno od načina oplodnje nije bila značajna (P> 0,05), dok je u drugoj grupi, razlika statistički značajna (P (lt) 0,05). Što se tiče tipa rođenja, a u okviru istog genotipa, postoji statistička značajnost (P (lt) 0,05) između jedinaca dobijenih prirodno, između prirodno dobijenih trojki i između trojke dobijenih hormonskim metodom. Sve razlike između masa tela muških grla sa 30 dana (načinu oplodnje, tipa rođenja i u okviru istog genotipa) su statistički značajne (P (lt) 0,05). Utvrđene razlike u telesnoj masi sa 60 dana su takođe statistički značajne (P (lt) 0,05). Rezultati su pokazali da su razlike između genotipova pod uticajem fiksnih faktora statistički značajne (P (lt) 0,05), osim između telesne mase sa 90 dana kod blizanaca (P> 0,05)

FIBER REINFORCED CEMENT COMPOSITES-IMPROVEMENT OF MECHANICAL AND DEFORMATION PROPERTIES

This paper presents the results of authors' laboratory testing of the influence of steel fibers as fiber reinforcement on the change of properties of cement composite mortar and concrete type materials.Mixtures adopted - compositions of mortars had identical amounts of components: cement, sand and silica fume. The second type of mortar contained 60 kg/m3 of fiber reinforcement, as well as the addition of the latest generation of superplasticizer. Physical and mechanical properties of fiber reinforced mortars and etalon mixtures (density, flexural strength, compressive strength) were compared. Tests on concrete type cement composites included: density, mechanical strengths and deformation properties. The results showed improvement in the properties of fiber reinforced composite

Photoinduced processes, radiation interaction with material and damages - material hardness

Photo and nuclear radiation induced processes are considered through the interaction of radiation with semiconducting, metallic and other materials, including the scintillator materials. The improvement of component efficiency by the use of quantum generators, trimming and hybrid processes with nuclear radiation has been analyzed. The studied processes can be positive or negative depending on application. Besides the experimental approach to the processes and chosen interactions, the analytical description of our experiments, as well as ones from other references, has been performed. The contemporary couplings between the nuclear physics, laser techniques and respective dosimetric aspects have been considered

Uticaj genotipa i perioda laktacije na količinu, fizičke i hemijske osobine ovčijeg mleka

Two genotype of sheep have been utilized in the conduct of the experiment composed of 60 ewes from Pirot x Virtemberg as genotype 1 and 60 ewes of Improved Pirot as genotype 2. All the ewes were reared under identical conditions and without any differences in nutrition and management during the whole period under study. The collection of Milk sampling was done in morning and evening during periods (1, 2, 3) of lactation duration. The average lactation duration and average total milk of the two genotypes were very close and has a minimal difference of 0.467 day and 1.562 kg, in favor of genotype 2. The differences between genotypes were not significant (P>0,05). Regarding physical and chemical properties of milk for both genotypes, the difference were very minimal such as follows; viscosity Pa x s - 0.006, electrical conductivity Ω - 0.018, density kg/m3 -0,001, freezing, t 0C - 0.013, LD number - 0.028 total solids, % - 0.014, fat,% - 0,026, protein,% - 0.085, lactose,% - 0.038, ash,% - 0,021, acidity, 0SH - 0.209. The results indicated that the properties of milk for both genotypes were very near to each other. It can be interpreted that the breeds utilized in the experiment were comparable due to similar characteristics perhaps. The effect of genotype was very significant only for the % protein of the milk. The lactation periods were highly significant in all physical and chemical properties of milk.Istraživanja su obavljena kod dve rase ovaca i to 60 grla Pirotska x Virtemberg kao genotip 1 i 60 ovaca pirotske oplemenjene populacije, kao genotip 2. Sve životinje su držane u istim proizvodnim uslovima na farmi u Vrnjačkoj Banji. Prosečne vrednosti trajanja laktacije i mleka dobijenog u periodu laktacije su bile vrlo ujednačene, tako da nije utvrđen uticaj genotipa na ova svojstva. Takođe, razlike između fizičko hemijskih osobina mleka, u većini slučajeva su bile nesignifikantne. Uticaj genotipa kao fiksnog faktora je bio vrlo signifikantan samo kod sadržaja proteina u mleku ovaca (P (lt) 0.01). Međutim utvrđeno je da period laktacije ima vrlo signifikantan uticaj na sva posmatrana fizička i hemijska svojstva mleka

Unfreezing the discursive hegemonies underpinning current versions of “social sustainability” in ECE policies in Anglo–Celtic, Nordic and Continental contexts

Social sustainability is linked to finding new ways of living together and strengthening social capital and participation, as well as to social justice and equity in societies, and it is becoming increasingly important for diverse multicultural societies. In this article, we trace understandings of social sustainability as established in Early Childhood Education (ECE) policy documents by following the chains of meaning connected to sense of belonging, local place and cultural diversity and through ECE collaboration with children’s parents/caregivers. Critical discourse analysis has been applied to trace the chains of meaning attached to these concepts in ECE steering documents in Australia, Croatia, Denmark, Norway, Poland, Serbia, Slovenia, Sweden and the UK (England, Scot-land, Wales and Northern Ireland). Such analysis shows different ways in which the ECE polices indirectly work with social sustainability, as well as create critical distance from the sets of meanings established in each country (by proving a chain of meaning established in the policy documents of another country). In conclusion, we do not advocate in favour of any of the chains of meaning but argue for continual reflection and reflexivity, and we see research to be a particularly significant arena in which to unfreeze the taken for granted and sustainable notion