MULTI-MODAL TASK INSTRUCTIONS TO ROBOTS BY NAIVE USERS

This thesis presents a theoretical framework for the design of user-programmable robots. The objective of the work is to investigate multi-modal unconstrained natural instructions given to robots in order to design a learning robot. A corpus-centred approach is used to design an agent that can reason, learn and interact with a human in a natural unconstrained way. The corpus-centred design approach is formalised and developed in detail. It requires the developer to record a human during interaction and analyse the recordings to find instruction primitives. These are then implemented into a robot. The focus of this work has been on how to combine speech and gesture using rules extracted from the analysis of a corpus. A multi-modal integration algorithm is presented, that can use timing and semantics to group, match and unify gesture and language. The algorithm always achieves correct pairings on a corpus and initiates questions to the user in ambiguous cases or missing information. The domain of card games has been investigated, because of its variety of games which are rich in rules and contain sequences. A further focus of the work is on the translation of rule-based instructions. Most multi-modal interfaces to date have only considered sequential instructions. The combination of frame-based reasoning, a knowledge base organised as an ontology and a problem solver engine is used to store these rules. The understanding of rule instructions, which contain conditional and imaginary situations require an agent with complex reasoning capabilities. A test system of the agent implementation is also described. Tests to confirm the implementation by playing back the corpus are presented. Furthermore, deployment test results with the implemented agent and human subjects are presented and discussed. The tests showed that the rate of errors that are due to the sentences not being defined in the grammar does not decrease by an acceptable rate when new grammar is introduced. This was particularly the case for complex verbal rule instructions which have a large variety of being expressed

Microresonator solitons for massively parallel coherent optical communications

Optical solitons are waveforms that preserve their shape while propagating, relying on a balance of dispersion and nonlinearity. Soliton-based data transmission schemes were investigated in the 1980s, promising to overcome the limitations imposed by dispersion of optical fibers. These approaches, however, were eventually abandoned in favor of wavelength-division multiplexing (WDM) schemes that are easier to implement and offer improved scalability to higher data rates. Here, we show that solitons may experience a comeback in optical communications, this time not as a competitor, but as a key element of massively parallel WDM. Instead of encoding data on the soliton itself, we exploit continuously circulating dissipative Kerr solitons (DKS) in a microresonator. DKS are generated in an integrated silicon nitride microresonator by four-photon interactions mediated by Kerr nonlinearity, leading to low-noise, spectrally smooth and broadband optical frequency combs. In our experiments, we use two interleaved soliton Kerr combs to transmit a data stream of more than 50Tbit/s on a total of 179 individual optical carriers that span the entire telecommunication C and L bands. Equally important, we demonstrate coherent detection of a WDM data stream by using a pair of microresonator Kerr soliton combs - one as a multi-wavelength light source at the transmitter, and another one as a corresponding local oscillator (LO) at the receiver. This approach exploits the scalability advantages of microresonator soliton comb sources for massively parallel optical communications both at the transmitter and receiver side. Taken together, the results prove the significant potential of these sources to replace arrays of continuous-wave lasers in high-speed communications.Comment: 10 pages, 3 figure

Multi-wavelength coherent transmission using an optical frequency comb as a local oscillator

Steadily increasing data rates of optical interfaces require spectrally efficient coherent transmission using higher-order modulation formats in combination with scalable wavelength-division multiplexing (WDM) schemes. At the transmitter, optical frequency combs (OFC) lend themselves to particularly precise multi-wavelength sources for WDM transmission. In this work we demonstrate that these advantages can also be leveraged at the receiver by using an OFC as a highly scalable multi-wavelength local oscillator (LO) for coherent detection. In our experiments, we use a pair of OFC that rely on gain switching of injection-locked semiconductor lasers both for WDM transmission and intradyne reception. We synchronize the center frequency and the free spectral range of the receiver comb to the transmitter, keeping the intradyne frequencies for all data channels below 15 MHz. Using 13 WDM channels, we transmit an aggregate line rate (net data rate) of 1.104 Tbit/s (1.032 Tbit/s) over a 10 km long standard single mode fiber at a spectral efficiency of 5.16 bit/s/Hz. To the best of our knowledge, this is the first demonstration of coherent WDM transmission using synchronized frequency combs as light source at the transmitter and as multi-wavelength LO at the receiver

Multi-Jet Event Rates in Deep Inelastic Scattering and Determination of the Strong Coupling Constant

Jet event rates in deep inelastic ep scattering at HERA are investigated applying the modified JADE jet algorithm. The analysis uses data taken with the H1 detector in 1994 and 1995. The data are corrected for detector and hadronization effects and then compared with perturbative QCD predictions using next-to-leading order calculations. The strong coupling constant alpha_S(M_Z^2) is determined evaluating the jet event rates. Values of alpha_S(Q^2) are extracted in four different bins of the negative squared momentum transfer~\qq in the range from 40 GeV2 to 4000 GeV2. A combined fit of the renormalization group equation to these several alpha_S(Q^2) values results in alpha_S(M_Z^2) = 0.117+-0.003(stat)+0.009-0.013(syst)+0.006(jet algorithm).Comment: 17 pages, 4 figures, 3 tables, this version to appear in Eur. Phys. J.; it replaces first posted hep-ex/9807019 which had incorrect figure 4

Measurement of Leading Proton and Neutron Production in Deep Inelastic Scattering at HERA

Deep--inelastic scattering events with a leading baryon have been detected by the H1 experiment at HERA using a forward proton spectrometer and a forward neutron calorimeter. Semi--inclusive cross sections have been measured in the kinematic region 2 <= Q^2 <= 50 GeV^2, 6.10^-5 <= x <= 6.10^-3 and baryon p_T <= MeV, for events with a final state proton with energy 580 <= E' <= 740 GeV, or a neutron with energy E' >= 160 GeV. The measurements are used to test production models and factorization hypotheses. A Regge model of leading baryon production which consists of pion, pomeron and secondary reggeon exchanges gives an acceptable description of both semi-inclusive cross sections in the region 0.7 <= E'/E_p <= 0.9, where E_p is the proton beam energy. The leading neutron data are used to estimate for the first time the structure function of the pion at small Bjorken--x.Comment: 30 pages, 9 figures, 2 tables, submitted to Eur. Phys.

Jets and energy flow in photon-proton collisions at HERA

Properties of the hadronic final state in photoproduction events with large transverse energy are studied at the electron-proton collider HERA. Distributions of the transverse energy, jets and underlying event energy are compared to \overline{p}p data and QCD calculations. The comparisons show that the \gamma p events can be consistently described by QCD models including -- in addition to the primary hard scattering process -- interactions between the two beam remnants. The differential jet cross sections d\sigma/dE_T^{jet} and d\sigma/d\eta^{jet} are measured

Differential cross section measurements for the production of a W boson in association with jets in proton–proton collisions at √s = 7 TeV

Measurements are reported of differential cross sections for the production of a W boson, which decays into a muon and a neutrino, in association with jets, as a function of several variables, including the transverse momenta (pT) and pseudorapidities of the four leading jets, the scalar sum of jet transverse momenta (HT), and the difference in azimuthal angle between the directions of each jet and the muon. The data sample of pp collisions at a centre-of-mass energy of 7 TeV was collected with the CMS detector at the LHC and corresponds to an integrated luminosity of 5.0 fb[superscript −1]. The measured cross sections are compared to predictions from Monte Carlo generators, MadGraph + pythia and sherpa, and to next-to-leading-order calculations from BlackHat + sherpa. The differential cross sections are found to be in agreement with the predictions, apart from the pT distributions of the leading jets at high pT values, the distributions of the HT at high-HT and low jet multiplicity, and the distribution of the difference in azimuthal angle between the leading jet and the muon at low values.United States. Dept. of EnergyNational Science Foundation (U.S.)Alfred P. Sloan Foundatio

Penilaian Kinerja Keuangan Koperasi di Kabupaten Pelalawan

This paper describe development and financial performance of cooperative in District Pelalawan among 2007 - 2008. Studies on primary and secondary cooperative in 12 sub-districts. Method in this stady use performance measuring of productivity, efficiency, growth, liquidity, and solvability of cooperative. Productivity of cooperative in Pelalawan was highly but efficiency still low. Profit and income were highly, even liquidity of cooperative very high, and solvability was good

Juxtaposing BTE and ATE – on the role of the European insurance industry in funding civil litigation

One of the ways in which legal services are financed, and indeed shaped, is through private insurance arrangement. Two contrasting types of legal expenses insurance contracts (LEI) seem to dominate in Europe: before the event (BTE) and after the event (ATE) legal expenses insurance. Notwithstanding institutional differences between different legal systems, BTE and ATE insurance arrangements may be instrumental if government policy is geared towards strengthening a market-oriented system of financing access to justice for individuals and business. At the same time, emphasizing the role of a private industry as a keeper of the gates to justice raises issues of accountability and transparency, not readily reconcilable with demands of competition. Moreover, multiple actors (clients, lawyers, courts, insurers) are involved, causing behavioural dynamics which are not easily predicted or influenced. Against this background, this paper looks into BTE and ATE arrangements by analysing the particularities of BTE and ATE arrangements currently available in some European jurisdictions and by painting a picture of their respective markets and legal contexts. This allows for some reflection on the performance of BTE and ATE providers as both financiers and keepers. Two issues emerge from the analysis that are worthy of some further reflection. Firstly, there is the problematic long-term sustainability of some ATE products. Secondly, the challenges faced by policymakers that would like to nudge consumers into voluntarily taking out BTE LEI