scholarly journals Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation

2012 ◽  
Vol 43 ◽  
pp. 1-42 ◽  
Author(s):  
F. Stulp ◽  
A. Fedrizzi ◽  
L. Mösenlechner ◽  
M. Beetz
Keyword(s):  
State Estimation ◽  
Empirical Evaluation ◽  
Mobile Manipulation ◽  
Task Context ◽  
Estimation Uncertainty ◽  
Experience Based Learning ◽  
New Information ◽  
Specific Goal ◽  
The Face ◽  
Initial Knowledge

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as a collection of positions, each with an associated probability that the manipulation action will succeed when located there. ARPlaces are generated using a predictive model that is acquired through experience-based learning, and take into account the uncertainty the robot has about its own location and the location of the object to be manipulated. When executing the task, rather than choosing one specific goal position based only on the initial knowledge about the task context, the robot instantiates an ARPlace, and bases its decisions on this ARPlace, which is updated as new information about the task becomes available. To show the advantages of this least-commitment approach, we present a transformational planner that reasons about ARPlaces in order to optimize symbolic plans. Our empirical evaluation demonstrates that using ARPlaces leads to more robust and efficient mobile manipulation in the face of state estimation uncertainty on our simulated robot.

scholarly journals Seasonal records of benthic macroinvertebrates in a stream on the eastern edge of the Iguaçu National Park, Brazil

2020 ◽  
Vol 8 ◽  
Author(s):  
Jhenifer Santos ◽  
Luciano Wolff ◽  
Lucíola Baldan ◽  
Ana Guimarães
Keyword(s):  
Benthic Macroinvertebrates ◽  
National Park ◽  
Anthropogenic Impacts ◽  
Natural Heritage ◽  
Precipitation Temperature ◽  
Brazilian Government ◽  
Urban Impacts ◽  
New Information ◽  
The Face ◽  
Eastern Edge

Background Iguaçu National Park (INP) is known worldwide due to Iguaçu Waterfalls, being considered a World Natural Heritage by UNESCO. The INP is one of the last large forested extensions of inland Brazil that provides protection to the Atlantic Forest, one of the world’s biodiversity hotspots. However, its Natural Heritage status has been threatened by the construction and operation of the Baixo Iguaçu dam, agricultural and urban impacts on its boundaries and the increasing interest of the Brazilian government in re-opening of the “Colono road”, an old illegal road that crossed the interior of the park. Indeed, since benthic macroinvertebrates have been widely used for the environmental assessment of streams, records and abundance of their taxa under different seasonal periods may provide an additional dataset for biomonitoring of hydrographic systems in the face of current anthropogenic impacts on the INP boundaries and other similar streams on forest edges. New information In this study, we improved the sampling design of benthic macroinvertebrates and provided seasonal records covering distinct precipitation/temperature periods between 2016 and 2017 of a stream on the eastern edge of the Iguaçu National Park, Brazil. The records total 2,840 individuals distributed in 88 different taxa. The most abundant taxa were the Diptera subfamilies, Chironominae (n = 1,487) and Tanypodinae (n = 256), besides the Heterelmis genus (n = 152, Elmidae; Coleoptera). Diptera was the richest order in number of families (n = 8), while Leptophlebiidae (Ephemeroptera) was the richest taxonomic family in number of genera (n = 11). Aegla (Crustacea) and the Insecta genera, Heterelmis, Hexacylloepus, Noelmis, Phylloicus and Thraulodes, were recorded through all samplings. Twenty-five genera of Ephemeroptera, Plecoptera, Trichoptera (EPT) and Odonata were recorded during intermediate precipitation/temperature periods. Twenty-one of them were recorded in May 2016, with five genera standing out in abundance (Hydrosmilodon, Anacroneuria, Argia, Coryphaeschna, Americabaetis) and four (Needhamella, Tikuna, Simothraulopsis, Neocordulia) in December 2016. Four general taxa were exclusive of the lower precipitation/temperature period (August 2016), standing out in abundance were the Oxystigma (Odonata) and Corydalus (Megaloptera) genera. In March 2017 (higher precipitation/temperature period), four exclusive taxa were recorded, amongst them, the Chimarra (Trichoptera) genus. Furthermore, seasonal records demonstrated higher occurrences and abundance of macroinvertebrates during the intermediate and lower precipitation/temperature periods, besides a varied taxa composition throughout the year, with the presence of both sensitive and tolerant groups to environmental impacts. Our findings suggest that the number and composition of the local-stream macrobenthic fauna were influenced by the seasonal climatic regime. These changes should be considered in the limnological monitoring developed on the hydrographic systems of INP eastern edges to improve the assessment of environmental quality under different local seasonal conditions.

scholarly journals Analisis Pengaruh Model Meaningfull Learning Terhadap Hasil Belajar Peserta Didik (Analisis Desktiptif Kualitatif dengan Teknik Studi Pustaka)

2021 ◽  
Author(s):  
Lili Nurfatin Nabilah ◽  
Nana
Keyword(s):  
Learning Outcomes ◽  
Relevant Literature ◽  
Cognitive Structure ◽  
Cognitive Learning ◽  
Meaningful Learning ◽  
Learning Model ◽  
New Information ◽  
Initial Knowledge ◽  
Cognitive Learning Outcomes

Abstract: This study aims to look at students' cognitive learning outcomes through learning with the Meaningfull Learning model. The method used in this study is the library study method by reviewing some relevant literature to be analyzed and concluded. Meaningful Learning model is a process of linking new information to relevant concepts contained in the cognitive structure of learners. Based on the opinion of the above theory, it was concluded that the Meaningfull Learning model has an influence in improving learners' learning outcomes. In the process of meaningful learning, learners construct what they have learned and associate new experiences, phenomena, and facts into their initial knowledge structure.Abstrak: Penelitian ini bertujuan untuk melihat hasil belajar kognitif siswa melalui pembelajaran dengan model Meaningfull Learning. Metode yang digunakan dalam penelitian ini yaitu metode studi pustaka dengan mengkaji beberapa literatur yang relevan untuk dianalisis dan dibuat kesimpulan. Model pembelajaran Pembelajaran Bermakna (Meaningful Learning) merupakan suatu proses mengaitkan informasi baru pada konsep-konsep relevan yang terdapat dalam struktur kognitif peserta didik. Berdasarkan pendapat dari teori di atas, diperoleh kesimpulan bahwa model Meaningfull Learning memiliki pengaruh dalam meningkatkan hasil belajar peserta didik. Dalam proses belajar bermakna, peserta didik mengkonstruksi apa yang telah ia pelajari dan mengasosiasikan pengalaman, fenomena, dan fakta-fakta baru ke dalam struktur pengetahuan awal yang mereka miliki.

Electronic Highways in Southeast Asia

2011 ◽  
pp. 57-80
Author(s):  
Loong Wong
Keyword(s):  
Southeast Asia ◽  
Information And Communication Technologies ◽  
Social Economic ◽  
Public Confidence ◽  
Political Rights ◽  
New Information ◽  
The Status ◽  
The Face ◽  
Crony Capitalism ◽  
Information And Communication

New information and communication technologies (ICTs), it is argued is transformative, and governments all over the world have sought to incorporate it into their development desideratum. It is clear that ICTs have transformed social, economic, and political practices and this certainly is true for Southeast Asia. In the context of Southeast Asia, it is particularly salient for it provided avenues for new political movements and expressions in the face of predominantly authoritarian regimes. Via the new ICTs, people were able to communicate freely and oppositional forces could be readily mobilized. This assertion of political rights threatened the status quo and the ruling political elites’ hold on power. This was compounded by a crisis in public confidence as Southeast Asian economies found themselves caught in the maelstrom of a financial crisis precipitated by the loss of investment confidence and crony capitalism. As the crisis intensified and spread, its political fallout became clear. Governments have to accommodate and make way for social, economic, and political changes. In this chapter, the author seeks to examine

2014–2015: a view from Greece

2015 ◽  
Vol 61 ◽  
pp. 6-11
Author(s):  
Catherine Morgan
Keyword(s):  
Financial Crisis ◽  
Heritage Management ◽  
Public Communication ◽  
Press Coverage ◽  
Archaeological Research ◽  
New Information ◽  
Research Programmes ◽  
The Face ◽  
Slow Progress

In a year when financial crisis and EU turmoil have gripped Greece and dominated international press coverage, one might be forgiven for assuming that there would be slow progress in archaeological research and heritage management. It has certainly been a tumultuous year, and heartfelt thanks are due to colleagues, especially those in the Archaeological Service, who have gone the extra mile to deliver their own work and to help others in the face of mounting pressures. In 2014 alone, the Central Archaeological Council dealt with 1,477 cases in 42 sittings, and its 2015 target is set to exceed this. Yet as I take stock of what has been achieved in publication, fieldwork, study and public communication, I am struck by the wealth of new information available and in many forms. Individual finds, continuing research programmes and a number of landmark conferences and exhibitions have contributed to real and significant advances in knowledge. There is much to report, and even more to see on the ground for readers inspired (as we hope) to spend time in Greece.

An Analysis of the Characteristics of Chinese Female College Students’ English Conversation

2020 ◽  
Vol 10 (4) ◽  
pp. 395
Author(s):  
Daowei Liu ◽  
Yu Yin
Keyword(s):  
College Students ◽  
Second Language ◽  
Discourse Analysis ◽  
Second Language Acquisition ◽  
Language Acquisition ◽  
Female Students ◽  
Female College Students ◽  
Female College ◽  
New Information ◽  
The Face

This article analyzed the characteristics of Chinese female college students’ English conversation from the perspective of second language acquisition by using some theories of sociolinguistics and discourse analysis. After analysis, it was found that female students used hedges and intensifiers extensively in second language conversations. Additionally, the participants consciously maintained the face of their peers and made the conversation take place in an atmosphere of equality and solidarity. Through the use of deixis, the conversation was well organized and carried out smoothly. The participants changed their roles, gave and took the floors, and offered new information to prolong the conversation. Although female language had many characteristics, it cannot be fully reflected in this sample conducted in a second language.

Optimal PMU placement considering state estimation uncertainty and voltage controllability

2017 ◽  
Vol 11 (18) ◽  
pp. 4465-4475 ◽  
Author(s):  
Chunxue Zhang ◽  
Youwei Jia ◽  
Zhao Xu ◽  
Loi Lei Lai ◽  
Kit Po Wong
Keyword(s):  
State Estimation ◽  
Estimation Uncertainty ◽  
Pmu Placement ◽  
Optimal Pmu Placement

scholarly journals Probabilistic Joint State Estimation of Robot and Non-static Objects for Mobile Manipulation

2012 ◽  
Vol 5 (4) ◽  
pp. 1081-1096
Author(s):  
Kun Qian ◽  
Xudong Ma ◽  
Xian Zhong Dai ◽  
Fang Fang ◽  
Bo Zhou
Keyword(s):  
State Estimation ◽  
Mobile Manipulation ◽  
Joint State

scholarly journals Empirical Studies for the Assessment of the Effectiveness of Design Patterns in Migration between Software Architectures of Embedded Applications

2012 ◽  
Vol 2012 ◽  
pp. 1-14
Author(s):  
Farah Lakhani ◽  
Michael J. Pont
Keyword(s):  
Design Patterns ◽  
Broad Class ◽  
Empirical Studies ◽  
Empirical Evaluation ◽  
Software Architectures ◽  
Migration Process ◽  
Specific Goal ◽  
Develop Software ◽  
Embedded Applications ◽  
Improve Reliability

Two main architectures used to develop software for modern embedded applications are “event triggered” (ET) and “time triggered” (TT). ET designs involve creating systems which handle multiple interrupts; by contrast, only one interrupt is ever enabled in a TT design, and this interrupt is usually linked to a timer “Tick.” Although TT architectures are widely used in safety-related designs, they are less familiar to developers of mainstream embedded systems. The work on this research began from the premise that—for a broad class of systems—the use of a TT architecture would improve reliability. The overall goal of the work presented here was to identify ways in which the effort involved in migrating between existing ET architectures and “equivalent” TT architectures could be reduced. The specific goal of the research was to explore whether the use of an appropriate set of design patterns could assist developers who wished to migrate between ET and TT designs. An empirical evaluation of the efficacy of a newly proposed pattern collection is described in this paper. The results of these trials demonstrate that the proposed collection of patterns has the potential to support developers by helping them to take appropriate decisions during the migration process.

The Silver Lining

2016 ◽  
Author(s):  
Arthur Lupia
Keyword(s):  
Types Of Knowledge ◽  
Difficult Time ◽  
New Information ◽  
The Face ◽  
Net Benefits ◽  
Time And Energy ◽  
Silver Lining ◽  
Effective Education

There are many things that people do not know about politics, policy, and government. In some cases, this ignorance prevents them from making competent choices. It prevents them from making decisions that they would have made had they known certain facts and sought to act consistently with certain values. Such circumstances are why effective education is so important. Educators of all kinds are this book’s protagonists. Educators seek to help people make better decisions—where better refers to the decisions that people would have made had they known certain facts and sought to act consistently with certain values. All educators, however, face important constraints. There are limits on their time and energy. Money can be scarce, as can the labor of coworkers or volunteers. Also limited are prospective learners’ motivation to pay attention to new information. If educators seek to develop effective and efficient informational strategies in the face of such constraints, what information should they provide? Standing between many educators and the educational successes to which they aspire are their perceptions of learning’s net benefits. Over the years, I have met educators, or aspiring educators, who energetically imagine the benefits of conveying their expertise to others. They have strong beliefs that teaching certain facts will improve important outcomes. Many, however, have a difficult time articulating the costs that their educational endeavors will impose. Over the same period, I have met many citizens who are asked to participate in these endeavors. They have a different perspective about these endeavors. For citizens, the costs of becoming informed (e.g., money paid for tuition, the struggle to reconcile new information with old beliefs, time spent away from other activities) are real and tangible—while learning’s benefits are often perceived as uncertain. Many citizens as a result tend to be less enthusiastic about learning than educators imagine (and want) them to be. A key to increasing socially beneficial types of knowledge and competence is to become more knowledgeable about these perceptions. Politics is but one aspect of life to which citizens can devote time and energy.

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