Cooperation in Swarms of Robots without Communication

Swarm robotics aims to use a large group of relatively simple robots to solve tasks that can hardly be achieved by a single robot in the group. Compared to single robot systems with increased capability, a swarm robotic system may have advantages in robustness, flexibility and scalability. However, designing cooperative behaviors for a swarm robotic system is a challenging problem, especially when the robots may not have communication capabilities and thus only know local information. For a swarm of miniature mobile robots that cannot communicate explicitly, this thesis studies fully decentralized solutions of two problems. For the problem of cooperative transport, the thesis presents a strategy to push an object that is large enough to occlude the robots' perception of the goal of the transportation. For the problem of pattern formation, the thesis investigates algorithms based on the Brazil nut effect that can organize the swarm of robots into an annular formation. These problems are studied using physics-based computer simulations as well as experimental implementations based on the e-puck robotic platform. The simplicity of the solutions make them suitable for applications that require the individual robots to be as simple as possible. Example application scenarios could be micro robot swarms working in the human body

SUATU KAJIAN TENTANG PENGGUNAAN PUTUSAN KASASI RNSEBAGAI ALAT BUKTI DALAM PENINJAUAN KEMBALI

ABSTRAKRIA MANDA SARI: SUATU KAJIAN TENTANG PENGGUNAAN2014PUTUSAN KASASI SEBAGAI ALAT BUKTI DALAM PENINJAUAN KEMBALIFakultas Hukum Universitas Syiah Kuala(vii, 55) pp., bibL.NURSITI, S.H., M.Hum.Pasal 263 ayat (2) huruf a KUHAP menyebutkan salah satu alasan diajukan peninjauan kembali adalah apabila terdapat keadaan baru yang menimbulkan dugaan kuat bahwa jika keadaan itu sudah diketahui pada sidang masih berlangsung, maka hasilnya akan menjadi putusan yang berbeda. Di dalam praktek timbul suatu masalah dimana terdakwa melakukan Peninjauan Kembali karena adanya kekeliruan yang nyata dalam hal kesalahan penerapan hukum oleh majelis hakim kasasi dalam hal menjatuhkan pemidanaan terhadap terdakwa dan alasan terdakwa melakukan peninjauan kembali yaitu karena adanya bukti baru (novum).Tujuan skripsi ini untuk mendapatkan kejelasan tentang penggunaan Putusan Kasasi sebagai alat bukti untuk Peninjauan Kembali dan untuk menjelaskan upaya hukum yang dapat dilakukan jika terdapat kekeliruan dalam Putusan Peninjauan Kembali.Data dalam skripsi ini diperoleh melalui penelitian kepustakaan dan penelitian lapangan. Penelitian kepustakaan dilakukan untuk memperoleh data sekunder dengan cara mempelajari buku-buku mengenai Peninjauan Kembali, peraturan perundang-undangan yang berhubungan dengan masalah yang diteliti. Penelitian lapangan dilakukan guna memperoleh data primer melalui wawancara dengan responden dan informan.Berdasarkan hasil penelitian diketahui bahwa Putusan Kasasi dapat dijadikan alat bukti, jika pada putusan tersebut dapat dinilai adanya pertentangan, kekeliruan, atau kekhilafan dari hakim, sehingga alat bukti baru berupa putusan pengadilan atau putusan Mahkamah Agung tersebut bisa dipertimbangkan sebagai alat bukti, asal relevan dan saling berhubungan.Jika Peninjauan Kembali terdapat kekeliruan maka tidak ada upaya hukum lain. Didasarkan pada KUHAP maka Peninjauan Kembali hanya dapat diajukan satu kali saja, namun dengan adanya Putusan Mahkamah Konstitusi No 34/PUU-XI/2013 maka Peninjauan Kembali dapat diajukan lebih dari satu kali.Hakim harus benar-benar cermat dalam memutuskan suatu perkara jangan hanya melihat kebiasaan-kebiasaan yang bersifat formal pada persidangan, namun hakim juga harus menggunakan putusan-putusan sebelumnya sebagai yurisprudensi. Disarankan kepada DPRRI agar dapat segera menyusun kebijakan untuk mengatur tatacara Peninjauan Kembali yang dapat diajukan lebih dari satu kali agar keadilan dapat tercapai tanpa mengenyampingkan kepastian hukum sesuai dengan Putusan Mahkamah Konstitusi No 34/PUU-XI/2013Banda Ace

From Monomers to Self-Assembled Monolayers: The Evolution of Molecular Mobility with Structural Confinements

The effect of structural constriction on molecular mobility is investigated by broadband dielectric spectroscopy (BDS) within three types of molecular arrangements: monomers, oligomers and self-assembled monolayers (SAMs). While disordered monomers exhibit a variety of cooperative and local relaxation processes, the constrained nanodomains of oligomers and highly ordered structure of monolayers exhibit much hindered local molecular fluctuations. Particularly, in SAMs, motions of the silane headgroups are totally prevented whereas the polar endgroups forming the monolayer canopy show only one cooperative relaxation process. This latter molecular fluctuation is, for the first time, observed independently from other overlapping dielectric signals. Numerous electrostatic interactions among those dipolar endgroups are responsible for the strong cooperativity and heterogeneity of the canopy relaxation process. Our data analyses also revealed that the bulkiness of dipolar endgroups can disrupt the organization of the monolayer canopy thus increasing their ability to fluctuate as temperature is increased

MicroRNA-141-3p mediates epithelial cell proliferation, apoptosis, and epithelial-mesenchymal transition and alleviates pulmonary fibrosis in mice via Spred2

Objective. This study probed the mechanism of microRNA (miR)-141-3p in the progression of pulmonary fibrosis (PF). Methods. Mice were intratracheally administered with bleomycin (BLM) to establish a PF mouse model. To investigate the effects of miR-141-3p/Spred2 on PF in mice, PF mice received tail vein injections with agomir-141-3p and/or adenovirus vectors overexpressing Spred2 one week after BLM treatment. Then, the pathological changes of lung tissues were analyzed with H&E and Masson’s trichrome staining, and hydroxyproline contents in lung tissues were measured. For cell experiments, after loss- and gain-of-function assays, the role of miR-141-3p/Spred2 in the apoptosis and viability of TGF-β1-stimulated MLE-12 cells was examined by flow cytometry and CCK-8 assay, respectively. miR-141-3p, Spred2, COl 1, and α-SMA expression was determined in cells and mice. Then, the binding of miR-141-3p to Spred2 was tested with a dualluciferase reporter assay. Results. There were abnormally upregulated Spred2 and downregulated miR-141-3p in lung tissues of PF mice. TGF-β1 decelerated viability and augmented apoptosis and COl 1 and α-SMA expression in MLE-12 cells. Spred2 knockdown diminished apoptosis and αSMA and COl 1 expression while enhancing proliferation in TGF-β1-treated MLE-12 cells. Mechanistically, Spred2 was a target gene of miR-1413p. miR-141-3p upregulation accelerated proliferation and repressed apoptosis and α-SMA and COl 1 expression in TGF-β1-treated MLE-12 cells, which was nullified by further overexpressing Spred2. miR-141-3p alleviated PF in mice by targeting Spred2. Conclusion. miR-141-3p negatively modulates Spred2 to promote proliferation and repress epithelialmesenchymal transition and apoptosis of epithelial cells, as well as ameliorating PF in mic

Boosting Language Models Reasoning with Chain-of-Knowledge Prompting

Recently, Chain-of-Thought (CoT) prompting has delivered success on complex reasoning tasks, which aims at designing a simple prompt like ``Let's think step by step'' or multiple in-context exemplars with well-designed rationales to elicit Large Language Models (LLMs) to generate intermediate reasoning steps. However, the generated rationales often come with mistakes, making unfactual and unfaithful reasoning chains. To mitigate this brittleness, we propose a novel Chain-of-Knowledge (CoK) prompting, where we aim at eliciting LLMs to generate explicit pieces of knowledge evidence in the form of structure triple. This is inspired by our human behaviors, i.e., we can draw a mind map or knowledge map as the reasoning evidence in the brain before answering a complex question. Benefiting from CoK, we additionally introduce a F^2-Verification method to estimate the reliability of the reasoning chains in terms of factuality and faithfulness. For the unreliable response, the wrong evidence can be indicated to prompt the LLM to rethink. Extensive experiments demonstrate that our method can further improve the performance of commonsense, factual, symbolic, and arithmetic reasoning tasks.Comment: Work in progres

TransCoder: Towards Unified Transferable Code Representation Learning Inspired by Human Skills

Code pre-trained models (CodePTMs) have recently demonstrated a solid capacity to process various software intelligence tasks, e.g., code clone detection, code translation, and code summarization. The current mainstream method that deploys these models to downstream tasks is to fine-tune them on individual tasks, which is generally costly and needs sufficient data for large models. To tackle the issue, in this paper, we present TransCoder, a unified Transferable fine-tuning strategy for Code representation learning. Inspired by human inherent skills of knowledge generalization, TransCoder drives the model to learn better code-related meta-knowledge like human programmers. Specifically, we employ a tunable prefix encoder as the meta-learner to capture cross-task and cross-language transferable knowledge, respectively. Besides, tasks with minor training sample sizes and languages with small corpus can be remarkably benefited from our approach. Extensive experiments conducted on benchmark datasets clearly demonstrate that our method can lead to superior performance on various code-related tasks and encourage mutual reinforcement. We also show that TransCoder is applicable in low-resource scenarios.Comment: work in progres

Positive outcome expectancy mediates the relationship between social influence and Internet addiction among senior high-school students

Background and aims Based on the foundations of Bandura’s social cognitive theory and theory of triadic influence (TTI) theoretical framework, this study was designed to examine the mediating role of positive outcome expectancy of Internet use in the relationship between social influence and Internet addiction (IA) in a large representative sample of senior high-school students in Taiwan. Methods Using a cross-sectional design, 1,922 participants were recruited from senior high schools throughout Taiwan using both stratified and cluster sampling, and a comprehensive survey was administered. Results Structural equation modeling and bootstrap analyses results showed that IA severity was significantly and positively predicted by social influence, and fully mediated through positive outcome expectancy of Internet use. Discussion and conclusions The results not only support Bandura’s social cognitive theory and TTI framework, but can also serve as a reference to help educational agencies and mental health organizations design programs and create policies that will help in the prevention of IA among adolescents