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Learning & Autonomous Control

Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian processes and its aptitude to model the dynamic system of an underactuated AUV without losing the relationships between tied outputs is used. The simulation of a first-principles model of a Remus 100 AUV is employed to capture data for the training and validation of the multi-output Gaussian processes. The metric and required procedure to carry out multi-output Gaussian processes for AUV with 6 degrees of freedom (DoF) is also shown in this paper. Multi-output Gaussian processes are compared with the popular technique of recurrent neural network show that Multi-output Gaussian processes manage to surpass RNN for non-parametric dynamic system identification in underwater vehicles with highly coupled DoF with the added benefit of providing a measurement of confidence.

ABSTRAK Penulisan skripsi ini berjudul “Ide-Ide Nasionalisme Dalam Surat Kabar Semangat Pemoeda Tahun 1932” merupakan penulisan sejarah intelektual namun bisa juga dilihat sebagai sejerah pers. Penelitian ini memfokuskan pada tulisan-tulisan yang dimuat dalam surat kabar Semangat Pemoeda yang berkaitan dengan nasionalisme sepanjang penerbitannya pada tahun 1932. Penerbitan surat kabar ini dipelopori oleh Persatuan Pelajar Islamic College (PPIC) di Padang. Meskipun dikelola oleh peelajar, namun penerbitannya mendapat respon baik dari kalangan masyarakat khususnya di Sumatera Barat. Hal ini bisa dilihat dari cukup luasnya pembaca yang tersebar di daerah-daerah di Sumatera Barat seperti; di Pariaman, Padangpanjang, Maninjau, dan daerah lainnya, bahkan juga memiliki pembaca yang berada di luar Sumatera Barat seperti Bengkulu, Palembang, dan lainnya. Secara umum, tampilan surat kabar in i tidak jauh berbeda dengan surat kabar lain yang terbit di tahun itu. Surat kabar ini menyediakan beberapa rubrik. Salah satu rubriknya adalah Suara Putri, rubrik ini secara khusus disediakan untuk para penulis perempuan pada masa itu, salah satu tokoh aktif yang mengisi ruang itu adalah Rohana Kudus, dengan banyak tulisannya menyoroti tentang pentingnya pendidikan bagi kaum perempuan. Dari penulisan tersebut didapatkan temuan bahwa, Surat kabar ini banyak memuat tentang semangat perjuangan sebagai motivasi pembangkit nasionalisme di Indonesia. Penerbitan surat kabar Semangat Pemoeda sebagai media tentu tidak terlepas dari kegigihan para pelopor dan pengelolanya meskipun masih berstatus pelajar.

ABSTRAK Penulisan skripsi ini berjudul “Ide-Ide Nasionalisme Dalam Surat Kabar Semangat Pemoeda Tahun 1932” merupakan penulisan sejarah intelektual namun bisa juga dilihat sebagai sejerah pers. Penelitian ini memfokuskan pada tulisan-tulisan yang dimuat dalam surat kabar Semangat Pemoeda yang berkaitan dengan nasionalisme sepanjang penerbitannya pada tahun 1932. Penerbitan surat kabar ini dipelopori oleh Persatuan Pelajar Islamic College (PPIC) di Padang. Meskipun dikelola oleh peelajar, namun penerbitannya mendapat respon baik dari kalangan masyarakat khususnya di Sumatera Barat. Hal ini bisa dilihat dari cukup luasnya pembaca yang tersebar di daerah-daerah di Sumatera Barat seperti; di Pariaman, Padangpanjang, Maninjau, dan daerah lainnya, bahkan juga memiliki pembaca yang berada di luar Sumatera Barat seperti Bengkulu, Palembang, dan lainnya. Secara umum, tampilan surat kabar in i tidak jauh berbeda dengan surat kabar lain yang terbit di tahun itu. Surat kabar ini menyediakan beberapa rubrik. Salah satu rubriknya adalah Suara Putri, rubrik ini secara khusus disediakan untuk para penulis perempuan pada masa itu, salah satu tokoh aktif yang mengisi ruang itu adalah Rohana Kudus, dengan banyak tulisannya menyoroti tentang pentingnya pendidikan bagi kaum perempuan. Dari penulisan tersebut didapatkan temuan bahwa, Surat kabar ini banyak memuat tentang semangat perjuangan sebagai motivasi pembangkit nasionalisme di Indonesia. Penerbitan surat kabar Semangat Pemoeda sebagai media tentu tidak terlepas dari kegigihan para pelopor dan pengelolanya meskipun masih berstatus pelajar.

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Background: Brain-Computer Interfaces (BCI) can potentially be used to aid in the recovery of lost motor control in a limb following stroke. BCIs are typically used by subjects with no damage to the brain therefore relatively little is known about the technical requirements for the design of a rehabilitative BCI for stroke. Methods: 32-channel electroencephalogram (EEG) was recorded during a finger-tapping task from 10 healthy subjects for one session and 5 stroke patients for two sessions approximately 6 months apart. An off-line BCI design based on Filter Bank Common Spatial Patterns (FBCSP) was implemented to test and compare the efficacy and accuracy of training a rehabilitative BCI with both stroke-affected and healthy data. Results: Stroke-affected EEG datasets have lower 10-fold cross validation results than healthy EEG datasets. When training a BCI with healthy EEG, average classification accuracy of stroke-affected EEG is lower than the average for healthy EEG. Classification accuracy of the late session stroke EEG is improved by training the BCI on the corresponding early stroke EEG dataset. Conclusions: This exploratory study illustrates that stroke and the accompanying neuroplastic changes associated with the recovery process can cause significant inter-subject changes in the EEG features suitable for mapping as part of a neurofeedback therapy, even when individuals have scored largely similar with conventional behavioural measures. It appears such measures can mask this individual variability in cortical reorganization. Consequently we believe motor retraining BCI should initially be tailored to individual patients.

Background: Brain-Computer Interfaces (BCI) can potentially be used to aid in the recovery of lost motor control in a limb following stroke. BCIs are typically used by subjects with no damage to the brain therefore relatively little is known about the technical requirements for the design of a rehabilitative BCI for stroke. Methods: 32-channel electroencephalogram (EEG) was recorded during a finger-tapping task from 10 healthy subjects for one session and 5 stroke patients for two sessions approximately 6 months apart. An off-line BCI design based on Filter Bank Common Spatial Patterns (FBCSP) was implemented to test and compare the efficacy and accuracy of training a rehabilitative BCI with both stroke-affected and healthy data. Results: Stroke-affected EEG datasets have lower 10-fold cross validation results than healthy EEG datasets. When training a BCI with healthy EEG, average classification accuracy of stroke-affected EEG is lower than the average for healthy EEG. Classification accuracy of the late session stroke EEG is improved by training the BCI on the corresponding early stroke EEG dataset. Conclusions: This exploratory study illustrates that stroke and the accompanying neuroplastic changes associated with the recovery process can cause significant inter-subject changes in the EEG features suitable for mapping as part of a neurofeedback therapy, even when individuals have scored largely similar with conventional behavioural measures. It appears such measures can mask this individual variability in cortical reorganization. Consequently we believe motor retraining BCI should initially be tailored to individual patients.

Speculative Realities, part of the series of Blowup readers, collects several text and interviews connected to the Speculative Realities exhibition of 2012. This eBook, the sixth in the se­ries of Blowup Read­ers re­leased by V2_, ex­plores the sig­nif­icance of the re­cent philo­soph­ic move­ments known as Ob­ject-​Ori­ent­ed On­tol­ogy and Spec­ula­tive Re­al­ism for the vi­su­al and me­dia arts. The ebook was edited in connection to the Speculative Realities exhibition…, https://www.librarystack.org/speculative-realities/?ref=unknown

Speculative Realities, part of the series of Blowup readers, collects several text and interviews connected to the Speculative Realities exhibition of 2012. This eBook, the sixth in the se­ries of Blowup Read­ers re­leased by V2_, ex­plores the sig­nif­icance of the re­cent philo­soph­ic move­ments known as Ob­ject-​Ori­ent­ed On­tol­ogy and Spec­ula­tive Re­al­ism for the vi­su­al and me­dia arts. The ebook was edited in connection to the Speculative Realities exhibition…, https://www.librarystack.org/speculative-realities/?ref=unknown

Background: Death adders (Acanthophis spp) are found in Australia, Papua New Guinea and parts of eastern Indonesia. This study aimed to investigate the clinical syndrome of death adder envenoming and response to antivenom treatment. Methodology/Principal Findings: Definite death adder bites were recruited from the Australian Snakebite Project (ASP) as defined by expert identification or detection of death adder venom in blood. Clinical effects and laboratory results were collected prospectively, including the time course of neurotoxicity and response to treatment. Enzyme immunoassay was used to measure venom concentrations. Twenty nine patients had definite death adder bites; median age 45 yr (5-74 yr); 25 were male. Envenoming occurred in 14 patients. Two further patients had allergic reactions without envenoming, both snake handlers with previous death adder bites. Of 14 envenomed patients, 12 developed neurotoxicity characterised by ptosis (12), diplopia (9), bulbar weakness (7), intercostal muscle weakness (2) and limb weakness (2). Intubation and mechanical ventilation were required for two patients for 17 and 83 hours. The median time to onset of neurotoxicity was 4 hours (0.5-15.5 hr). One patient bitten by a northern death adder developed myotoxicity and one patient only developed systemic symptoms without neurotoxicity. No patient developed venom induced consumption coagulopathy. Antivenom was administered to 13 patients, all receiving one vial initially. The median time for resolution of neurotoxicity post-antivenom was 21 hours (5-168). The median peak venom concentration in 13 envenomed patients with blood samples was 22 ng/mL (4.4-245 ng/mL). In eight patients where post-antivenom bloods were available, no venom was detected after one vial of antivenom. Conclusions/Significance: Death adder envenoming is characterised by neurotoxicity, which is mild in most cases. One vial of death adder antivenom was sufficient to bind all circulating venom. The persis

Background: Death adders (Acanthophis spp) are found in Australia, Papua New Guinea and parts of eastern Indonesia. This study aimed to investigate the clinical syndrome of death adder envenoming and response to antivenom treatment. Methodology/Principal Findings: Definite death adder bites were recruited from the Australian Snakebite Project (ASP) as defined by expert identification or detection of death adder venom in blood. Clinical effects and laboratory results were collected prospectively, including the time course of neurotoxicity and response to treatment. Enzyme immunoassay was used to measure venom concentrations. Twenty nine patients had definite death adder bites; median age 45 yr (5-74 yr); 25 were male. Envenoming occurred in 14 patients. Two further patients had allergic reactions without envenoming, both snake handlers with previous death adder bites. Of 14 envenomed patients, 12 developed neurotoxicity characterised by ptosis (12), diplopia (9), bulbar weakness (7), intercostal muscle weakness (2) and limb weakness (2). Intubation and mechanical ventilation were required for two patients for 17 and 83 hours. The median time to onset of neurotoxicity was 4 hours (0.5-15.5 hr). One patient bitten by a northern death adder developed myotoxicity and one patient only developed systemic symptoms without neurotoxicity. No patient developed venom induced consumption coagulopathy. Antivenom was administered to 13 patients, all receiving one vial initially. The median time for resolution of neurotoxicity post-antivenom was 21 hours (5-168). The median peak venom concentration in 13 envenomed patients with blood samples was 22 ng/mL (4.4-245 ng/mL). In eight patients where post-antivenom bloods were available, no venom was detected after one vial of antivenom. Conclusions/Significance: Death adder envenoming is characterised by neurotoxicity, which is mild in most cases. One vial of death adder antivenom was sufficient to bind all circulating venom. The persis

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Postprint (published version)

The present paper deals with the numerical study of vortex-induced vibrations (VIV) of an elastically mounted cylinder in a cross flow with uniform inflow. It is well known that, in the case of low mass-damping, three distinct types of transverse amplitude response can be observed depending on the range of the reduced velocity. However, the accurate numerical simulation of the VIV amplitudes at the lock-in upper branch remains a great challenge. Moreover, few studies deal with the investigation of the hysteretic loop due to the jump between the initial excitation branch and the upper branch. Here, we propose to compute the transverse motion of the structure at a Reynolds number equal to 3900 Large Eddy Simulation. The Navier-Stokes equations are solved on a moving and deforming grid by means of an Arbitrary Lagrangian Eulerian (ALE) co-located finite volume method for unstructured meshes. An iterative algorithm is used at each time step based on Newton’s or fixed point method. This algorithm uses convergent explicit predictions of the coupled fluid structure system and sub-cycling is involved to get convergence towards the implicit solution of the fully coupled system. A criterion based on the structure velocity is used to stop the numerical sub-cycling process. First, we compare the transverse amplitude response of the cylinder for various reduced velocities with the DNS results obtained by Lucor et al. (2005) for zero structural damping and a mass ration equal to 2. Next, the experimental data of Hover et al. (1998) are considered to demonstrate the ability of the present solver to predict the VIV response for lowmass-damping.

Gaussian Process (GP) model interpolation is used extensively in geostatistics. We investigated the effectiveness of using GP model interpolation to generate maps of cortical activity as measured by Near Infrared Spectroscopy (NIRS). GP model interpolation also produces a variability map, which indicates the reliability of the interpolated data. For NIRS, cortical hemodynamic activity is spatially sampled. When generating cortical activity maps, the data must be interpolated. Popular NIRS imaging software HomER uses Photon Migration Imaging (PMI) and Diffuse Optical Imaging (DOI) techniques based on models of light behaviour to generate activity maps. Very few non-parametric methods of NIRS imaging exist and none of them indicate the reliability of the interpolated data. Our GP model interpolation algorithm and HomER produced activity maps based on data generated from typical functional NIRS responses. Image results in HomER were taken as the bench mark as the images produced are commonly considered to be representative of the true underlying hemodynamic spatial response. The output from the GP approach was then compared to these on a qualitative basis. The GP model interpolation appears to produce less structured image maps of hemodynamic activity compared to those produced by HomER, however a broadly similar spatial response is compelling evidence of the utility of GP models for such applications. The additional generation of a variability map which is produced by the GP method may have some utility for functional NIRS as such information is not explicitly available from standard approaches. GP model interpolation can produce spatial activity maps from coarsely sampled NIRS data sets without any knowledge of the system being modelled. While the images produced do not appear to have the same feature resolution as photonic model-based methods the technique is worthy of further investigation due to its relative simplicity and, most intriguingly, its generation of anc

Gaussian Process (GP) model interpolation is used extensively in geostatistics. We investigated the effectiveness of using GP model interpolation to generate maps of cortical activity as measured by Near Infrared Spectroscopy (NIRS). GP model interpolation also produces a variability map, which indicates the reliability of the interpolated data. For NIRS, cortical hemodynamic activity is spatially sampled. When generating cortical activity maps, the data must be interpolated. Popular NIRS imaging software HomER uses Photon Migration Imaging (PMI) and Diffuse Optical Imaging (DOI) techniques based on models of light behaviour to generate activity maps. Very few non-parametric methods of NIRS imaging exist and none of them indicate the reliability of the interpolated data. Our GP model interpolation algorithm and HomER produced activity maps based on data generated from typical functional NIRS responses. Image results in HomER were taken as the bench mark as the images produced are commonly considered to be representative of the true underlying hemodynamic spatial response. The output from the GP approach was then compared to these on a qualitative basis. The GP model interpolation appears to produce less structured image maps of hemodynamic activity compared to those produced by HomER, however a broadly similar spatial response is compelling evidence of the utility of GP models for such applications. The additional generation of a variability map which is produced by the GP method may have some utility for functional NIRS as such information is not explicitly available from standard approaches. GP model interpolation can produce spatial activity maps from coarsely sampled NIRS data sets without any knowledge of the system being modelled. While the images produced do not appear to have the same feature resolution as photonic model-based methods the technique is worthy of further investigation due to its relative simplicity and, most intriguingly, its generation of anc

Es presenta la faunística i la distribució dels odonats d'Osona, a partir de dades d'adults recollides en 17 itineraris durant els anys 1988-89. S'ha detectat 36 espècies (16 anisòpters i 20 zigòpters) que representen el 55,4 % de les presents a Catalunya. Lestes viridis i Anax imperator són les de distribució més àmplia i Platycnemis latipes i L.viridis les més abundants. Olost, Sora i el Sorreigs són els itineraris amb major nombre d'espècies. Finalment es discuteixen aspectes referents a l'abundància, distribució i ecologia de les espècies osonenques., The odonate fauna of Osona (Barcelona, Spain) and its distribution are presented, on the basis of data from adults obtained in 17 itineraries during the period 1988-89. Thirty-six species were detected (16 anisopterans and 20 zygopterans), representing 55,4 % of those recorded from Catalonia. Lestes viridis and Anax imperator have the widest distribution and Platycnemis latipes and L. viridis are the most abundant. Olost, Sora and El Sorreigs are the itineraries with the largest numbers of species. Finally, some aspects of the abundance, distribution and ecology of the species present in Osona are discussed., Se presenta la faunística y la distribución de los odonatos de Osona (Barcelona), a partir de datos de adultos recopilados en 17 itinerarios durante los años 1988-89. Se han detectado 36 especies (16 anisópteros y 20 zigópteros) que representan el 55,4 % de las presentes en Cataluña. Lestes viridis y Anax imperator son las de distribución más amplia y Platycnemis latipes y L.viridis las más abundantes. Olost, Sora y el Sorreigs son los itinerarios con mayor número de especies. Finalmente se discuten aspectos referentes a la abundancia, distribución y ecología de les especies de Osona.

Global control in distributed systems had not been well researched. Control had only been addressed in a limited manner, such as for data-update consistency in distributed, redundant databases or for confidentiality controls (access control authentication). The purpose of control is to allocate the system's resources to the most important objective. The system must manage resources during system operation. Anomalies are conditions that obstruct the system from achieving user objective. Most research had been limited to a single-processor situation; however, research had to extend control to the distributed environment. The predictability of the external environment, communication delays data accuracy (state information) and anomalies, and stability of decision algorithms constrain global control. The integration of control, which at various levels of granularity, would enable distributed-teleconferencing, and adapt to systems conditions, was investigated.

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Na cub. : "Figuras y episodios de la historia de méxico. No. 58"

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[4], 4 p., Lacks all after p. 4., Imperfect: stained., Reproduction of original in the Bodleian Library., (DLPS) A33257.0001.001, (stc) Wing C4444, http://quod.lib.umich.edu/t/text/accesspolicy.html, To the extent possible under law, the Text Creation Partnership has waived all copyright and related or neighboring rights to this keyboarded and encoded edition of the work described above, according to the terms of the CC0 1.0 Public Domain Dedication (http://creativecommons.org/publicdomain/zero/1.0/). This waiver does not extend to any page images or other supplementary files associated with this work, which may be protected by copyright or other license restrictions. Please go to http://www.textcreationpartnership.org/ for more information.

[30], 130, [10], 140, [2]; [4], 82, 81-255, [1] p., Attributed to Richard Cosin by STC (2nd ed.)., A reply to: Morice, James. A briefe treatise of oathes exacted by ordinaries and ecclesiasticall iudges, to answere generallie to all such articles or interrogatories, as pleaseth them to propound., A revised and enlarged edition of: An apologie: of, and for sundrie proceedings by jurisdiction ecclesiasticall., The second and third parts each have separate title pages and pagination; part 3 has separate register and is sometimes found separately., Running title reads: An apologie of certaine proceedings in courts ecclesiasticall., "Quæstionis: nunquid per ius diuinum, magistratui liceat, a reo iusiurandum exigere? & id, quatenus ac quousque liceat?" by Lancelot Andrewes, p. 242-255., A variant (STC 5821) has imprint dated 1593., Reproduction of the original in the Folger Shakespeare Library., (DLPS) A19394.0001.001, (stc) STC 5822, http://quod.lib.umich.edu/t/text/accesspolicy.html, To the extent possible under law, the Text Creation Partnership has waived all copyright and related or neighboring rights to this keyboarded and encoded edition of the work described above, according to the terms of the CC0 1.0 Public Domain Dedication (http://creativecommons.org/publicdomain/zero/1.0/). This waiver does not extend to any page images or other supplementary files associated with this work, which may be protected by copyright or other license restrictions. Please go to http://www.textcreationpartnership.org/ for more information.

1 sheet ([1] p.)., An outline of: Sharrock, Robert. Hypothesis ēthikē de officiis secundum naturæ jus., Caption title., Imprint from colophon., Initial letter., At end of text: Explained and confirmed at large, by Ro. Sharrock, ... in his treatise of duties according to the law of nature., Reproduction of original in the British Library., (DLPS) B29703.0001.001, (stc) Wing S3016, http://quod.lib.umich.edu/t/text/accesspolicy.html

1 sheet ([1] p.)., An outline of: Sharrock, Robert. Hypothesis ēthikē de officiis secundum naturæ jus., Caption title., Imprint from colophon., Initial letter., At end of text: Explained and confirmed at large, by Ro. Sharrock, ... in his treatise of duties according to the law of nature., Reproduction of original in the British Library., (DLPS) B29703.0001.001, (stc) Wing S3016, http://quod.lib.umich.edu/t/text/accesspolicy.html

Delke (left) of Detroit Lakes and Myhre of Winona are pictured at a recent meet.

[4], 4 p., Lacks all after p. 4., Imperfect: stained., Reproduction of original in the Bodleian Library., (DLPS) A33257.0001.001, (stc) Wing C4444, http://quod.lib.umich.edu/t/text/accesspolicy.html, To the extent possible under law, the Text Creation Partnership has waived all copyright and related or neighboring rights to this keyboarded and encoded edition of the work described above, according to the terms of the CC0 1.0 Public Domain Dedication (http://creativecommons.org/publicdomain/zero/1.0/). This waiver does not extend to any page images or other supplementary files associated with this work, which may be protected by copyright or other license restrictions. Please go to http://www.textcreationpartnership.org/ for more information.

[30], 130, [10], 140, [2]; [4], 82, 81-255, [1] p., Attributed to Richard Cosin by STC (2nd ed.)., A reply to: Morice, James. A briefe treatise of oathes exacted by ordinaries and ecclesiasticall iudges, to answere generallie to all such articles or interrogatories, as pleaseth them to propound., A revised and enlarged edition of: An apologie: of, and for sundrie proceedings by jurisdiction ecclesiasticall., The second and third parts each have separate title pages and pagination; part 3 has separate register and is sometimes found separately., Running title reads: An apologie of certaine proceedings in courts ecclesiasticall., "Quæstionis: nunquid per ius diuinum, magistratui liceat, a reo iusiurandum exigere? & id, quatenus ac quousque liceat?" by Lancelot Andrewes, p. 242-255., A variant (STC 5821) has imprint dated 1593., Reproduction of the original in the Folger Shakespeare Library., (DLPS) A19394.0001.001, (stc) STC 5822, http://quod.lib.umich.edu/t/text/accesspolicy.html, To the extent possible under law, the Text Creation Partnership has waived all copyright and related or neighboring rights to this keyboarded and encoded edition of the work described above, according to the terms of the CC0 1.0 Public Domain Dedication (http://creativecommons.org/publicdomain/zero/1.0/). This waiver does not extend to any page images or other supplementary files associated with this work, which may be protected by copyright or other license restrictions. Please go to http://www.textcreationpartnership.org/ for more information.