Set Of Commands Research Articles

Development of GNSS Receiver for Mobile CORS with RTK Correction Services Using Cloud Server

Requirements for precise Real Time Kinematic (RTK) positioning have been significantly growing in Indonesia since early 2010, resulting from the national programs on village mapping, land cadastre certification, infrastructure developments, and one map policy. The activities require a sub-decimetre level of positioning accuracy to produce detail maps to the scale of 1:500. RTK positioning with CORS should be the most reliable technique to meet the accuracy level. However, the existing distribution of Indonesia CORS Network, consisting of 150 active stations, is still far from adequate since the inter-station distances are of around 500 km while an ideal range should be less than 50 km. This paper related to an initiative for the development of a GNSS receiver that can be transportable and easily set up in the field as a base station to provide RTK CORS correction services with local contents. The initiative supports national efforts on the densification of Indonesia CORS Network to better distribution. The development was started using the Tersus OEM GNSS board series BX305, including the integration of the board to a mini PC. Further developments have been made covering the following, namely: i) to add a long-term stable power supply in the receiver, ii) customization of receiver command settings, iii) to add a GSM modem and internet protocol for data communication from the receiver to a cloud server, iv) installation of SNIP software in a cloud server to provide CORS corrections with NTRIP caster, and v) testing the NTRIP client performance in the rover receiver. Results from the land cadastre surveys carried out in Bandung, Padang and Tangerang Cities show that the length of time for the fixed positioning with resolved ambiguities could be obtained within less than 5-7 seconds with the rover locations less than 10 km from the base station. A longer time to obtain fixed solutions required for the distance at the range of 10 to 20 km, and it is becoming more difficult to get fixed solutions over 20 km. Further developments would be carried out using affordable price GNSS OEM boards provided by different manufacturers.

Application of Thruster Fault-Tolerant Control System based on the Hybrid Method for Control Allocation in Real-World Environment

Fault-tolerant control system for marine robots, developed by researchers at Centre for Robotics & Intelligent Systems (CRIS), University of Limerick, utilises the hybrid method for control allocation, based on the integration of the pseudoinverse and the fixed-point iteration method. The algorithm is implemented as a two-step process. In the first step, the pseudoinverse solution is found, and the feasibility of the solution is examined analysing its components. If violation of actuator constraint(s) is detected, the fixed-point iteration method is activated in the second step. In this way, the hybrid method for control allocation can allocate the exact solution, optimal in the l2 sense, inside the entire attainable command set. This solution minimises a control energy cost function, the most suitable criteria for underwater applications. The performance of the thruster fault-tolerant control system has been validated during the research cruise CE19001, where the work-class ROV Étaín, deployed from support vessel Celtic Explorer via Tether Management System (TMS), successfully performed several complex subsea tasks with a faulty horizontal thruster. This paper describes the algorithm, provides geometric interpretation and presents the results from field trials.

A practical effort to equip tractor-implement with fuzzy depth and draft control system

This paper describes an applied research established in response to farmer's request for improvement of performance of tractor-implement in tillage operations. An effort for decrement of variations in plowing depth as well as increment of tractive efficiency of a moderate power tractor in tillage operations with mounted implements led to development of a fuzzy depth and draft control system for tractor-implement. The fuzzy control system consisted of an electrical sensing, control, and electro-hydraulic actuator unit. A command set including four fuzzy rules were programmed for the control unit. To determine merits of the fuzzy control system, the field experiments were carried out at three levels of plowing depth (10, 20 and 30 cm), forward speed (2, 4 and 6 km/h), and implement types (moldboard, disk, and chisel plow) utilizing the system mounted on a tractor (MF-399). Some performance parameters of tractor-implement were then determined in the field experiments. The results indicated application of the fuzzy control system rather than available draft control system of the tractor resulted in increment of tractive efficiency and overall energy efficiency up to 20 and 73%, respectively. Meanwhile, plowing depth error, driving wheel slip, and fuel consumption decreased up to 53, 34 and 34%, respectively. The performance of the fuzzy control system was not sensitive to implement type and plowing depth, while it was influenced by forward speed (P ≤ 0.01). The fuzzy control system adequately improved performance of tractor-implement in tillage operations and satisfied farmer's requirements. Hence, it is recommended to industrialize and commercialize the fuzzy control system in order to mount it on any moderate power tractor.

Calculations Involving the Multivariate Normal and Multivariate t Distributions with and without Truncation

In this article, we present a set of commands and Mata functions to evaluate different distributional quantities of the multivariate normal distribution and a particular type of noncentral multivariate t distribution. Specifically, their densities, distribution functions, equicoordinate quantiles, and pseudo–random vectors can be computed efficiently, in either the absence or the presence of variable truncation.

Pan-Tilt Modelling for Face Detection

Object detection is one of the important application in the surveillance system. In system design, a model is needed to be used for the compensator design process. The black-box modeling method is used so that we can get the mathematical model of the plant without using physics laws, while it is used an experimental approach so that it takes input and output data from the open-loop system response. In modeling the system, two datasets are required to estimate the model and validate the data. In the process, Arduino Mega controller commanded to transmit Pulse Width Modulation (PWM) signals on the pan and tilt servo motors. The command sets motion to pan and tilt systems which installed a camera in it, and the dataset retrieval process can be performed. In this case, the PWM signal as input and the center coordinates of the face (pixels) as outputs based on the viola jones method for the image processing of the open-loop system. The results of the mathematical model of the system show that the data obtained is quite accurate, it is proved from the estimation and data validation that has been done.

The ATLAS Event Index: The Architecture of the Core Engine

The global view of the ATLAS Event Index system has been presented in the 17th ACAT Conference. This article concentrates on the architecture of the system core component. This component handles the final stage of the event metadata import. It organizes its storage and provides a fast and feature-rich access to all information. A user is able to interrogate metadata in various ways, including by executing user-provided code on the data to make selections and to interpret the results. A wide spectrum of clients is available, from a set of Linux-like commands to an interactive graphical Web Service. The stored event metadata contain the basic description of the related events, the references to the experiment event storage and the full trigger record and can be extended with other event characteristics. Derived collections of events can be created. Such collections can be annotated and tagged with further information.

Ultra-Orthodox Jews and infertility diagnosis and treatment.

'Be fruitful and multiply' is the first God's command in the Bible. Every aspect in life of the Orthodox Jewish population, including the strive for fertility, is tightly covered by a wide set of commands and rules ('Halacha') that span more than 3,000years. This is a unique example of a population that continues to adhere to such time-honored rules. To describe rules that encourage fertility on one hand, but may hinder fertility and influence infertility diagnosis and treatment on the other. Halacha rules that may affect fecundity. Orthodox Jews obey a complex set of rules that influence fertility. This study provides fertility practitioners with background information that may help them when delivering professional care to Ultra-Orthodox Jewish infertile couples.

Lab::Measurement—A portable and extensible framework for controlling lab equipment and conducting measurements

Lab::Measurement is a framework for test and measurement automatization using Perl 5. While primarily developed with applications in mesoscopic physics in mind, it is widely adaptable. Internally, a layer model is implemented. Communication protocols such as IEEE 488 [1], USB Test & Measurement [2], or, e.g., VXI-11 [3] are addressed by the connection layer. The wide range of supported connection backends enables unique cross-platform portability. At the instrument layer, objects correspond to equipment connected to the measurement PC (e.g., voltage sources, magnet power supplies, multimeters, etc.). The high-level sweep layer automates the creation of measurement loops, with simultaneous plotting and data logging. An extensive unit testing framework is used to verify functionality even without connected equipment. Lab::Measurement is distributed as free and open source software. Program summaryProgram Title: Lab::Measurement 3.660Program Files doi:http://dx.doi.org/10.17632/d8rgrdc7tz.1Program Homepage:https://www.labmeasurement.deLicensing provisions: GNU GPL v233The precise license terms are more permissive. Lab::Measurement is distributed under the same licensing conditions as Perl 5 itself, a frequent choice in the Perl ecosystem. This means that it can be used and distributed according to the terms of either the GNU General Public License (version 1 or any later version) or the Artistic License; the choice of license is up to the user.Programming language: Perl 5Nature of problem: Flexible, lightweight, and operating system independent control of laboratory equipment connected by diverse means such as IEEE 488 [1], USB [2], or VXI-11 [3]. This includes running measurements with nested measurement loops where a data plot is continuously updated, as well as background processes for logging and control.Solution method: Object-oriented layer model based on Moose [4], abstracting the hardware access as well as the command sets of the addressed instruments. A high-level interface allows simple creation of measurement loops, live plotting via GnuPlot [5], and data logging into customizable folder structures.[1] F. M. Hess, D. Penkler, et al., LinuxGPIB. Support package for GPIB (IEEE 488) hardware, containing kernel driver modules and a C user-space library with language bindings. http://linux-gpib.sourceforge.net/[2] USB Implementers Forum, Inc., Universal Serial Bus Test and Measurement Class Specification (USBTMC), revision 1.0 (2003). http://www.usb.org/developers/docs/devclass_docs/[3] VXIbus Consortium, VMEbus Extensions for Instrumentation VXIbus TCP/IP Instrument Protocol Specification VXI-11 (1995). http://www.vxibus.org/files/VXI_Specs/VXI-11.zip[4] Moose—Apostmodern object system for Perl 5. http://moose.iinteractive.com[5] E. A. Merritt, et al., Gnuplot. An Interactive Plotting Program. http://www.gnuplot.info/

CutLang: A Particle Physics Analysis Description Language and Runtime Interpreter

This note introduces CutLang, a domain specific language that aims to provide a clear, human readable way to define analyses in high energy particle physics (HEP) along with an interpretation framework of that language. A proof of principle (PoP) implementation of the CutLang interpreter, achieved using C++ as a layer over the CERN data analysis framework ROOT, is presently available. This PoP implementation permits writing HEP analyses in an unobfuscated manner, as a set of commands in human readable text files, which are interpreted by the framework at runtime. We describe the main features of CutLang and illustrate its usage with two analysis examples. Initial experience with CutLang has shown that a just-in-time interpretation of a human readable HEP specific language is a practical alternative to analysis writing using compiled languages such as C++.Program summaryProgram title: CutLangProgram Files doi:http://dx.doi.org/10.17632/pym39s7vy7.1Licensing provisions: GNU General Public License 3 (GPL)Programming language: C++Nature of problem: Obtaining a physics result from high energy collider (e.g. LHC) data typically involves complex software frameworks for data analysis. Operating such analysis frameworks usually demands high computational expertise from the physicists, which makes trying simple analysis ideas difficult. The difficulty can be overcome by decoupling the description of all physics components of an analysis from the software framework. Analyses would thus be fully and unambiguously described by a framework-independent domain specific language. Defining such a language, which would be text-based and human readable is the first problem this paper investigates. Once a text-based language is available, a major task is to write an interpreter (or compiler) that converts it into instructions that can actually be executed, perhaps in some framework. The second problem addressed here is to write an automated, just-in-time interpreter to perform this task.Solution method: CutLang addresses the above problems by first constructing a domain specific language which aims to provide a clear, human readable way to define high energy physics analyses. The language is capable of defining various components of the analysis like object selection, event selection, and allows analysis tools like variable definition, χ2 minimization, multiple selection regions definition and many others. CutLang also provides an automated interpretation framework for the language, which is achieved using C++ classes as a layer over the CERN ROOT framework. The interpreter evaluates each component of the analysis description at runtime, without compilation. It handles event selection by classes which consist of a function that evaluates event-by-event object or event related quantities, a comparison operator, and one or two limit values, For each evaluation, the function result is compared to the limit values to find a boolean result of 0 or 1. Multiple selection criteria are combined together using logical operators. CutLang evaluates such expressions numerically by first converting them into Reverse Polish Notation, and then by parsing them with the Shunting Yard algorithm. Several properties of the interpreter are being able to work with multiple particle types, allowing particle combinations to make new particles, offering standard functions, histogramming, etc.Additional comments including restrictions and unusual features: The CutLang language and interpreter can work for a large number of physics analyses at the LHC. However it would benefit from some generalizations which would make it eligible for a larger variety of analysis. These generalizations could be achieved by inclusion of external functions for computing analysis-related variables, and allowing user-defined particle collections.

Increasing the learning Capacity of BCI Systems via CNN-HMM models.

Despite all the work in the Brain Computer Interface (BCI) community, one of the main issues that prevents it from becoming pervasive is the limitation on the number of commands with a satisfactory accuracy of detection. In this paper, we propose a solution to increase the number of commands while maintaining a satisfactory accuracy performance via a hybrid Convolutional Neural Network (CNN)- Hidden Markov Model (HMM). The setup makes use of a classifier (a CNN) that works over a small alphabet of established mental tasks like the motor imagery task and detects sequences comprised of these tasks using HMMs. To optimize the learning capacity, we select a subset of sequences by measuring the distance between HMM models. This system, based on the experiments we have conducted, shows a 14% gain in accuracy over the non-sequenced classifier. Alternatively, it can be used to increase the command set size by 4 times when using all the channels or by 1.5 times when using only 1/3 of the EEG channels and have the same performance as a non-sequenced classifier that uses all available channels. This shows that the CNN-HMM hybrid model is a viable approach to increase the capacity of learning in BCI.

Gestures for Picture Archiving and Communication Systems (PACS) operation in the operating room: Is there any standard?

ObjectiveGestural interfaces allow accessing and manipulating Electronic Medical Records (EMR) in hospitals while keeping a complete sterile environment. Particularly, in the Operating Room (OR), these interfaces enable surgeons to browse Picture Archiving and Communication System (PACS) without the need of delegating functions to the surgical staff. Existing gesture based medical interfaces rely on a suboptimal and an arbitrary small set of gestures that are mapped to a few commands available in PACS software. The objective of this work is to discuss a method to determine the most suitable set of gestures based on surgeon’s acceptability. To achieve this goal, the paper introduces two key innovations: (a) a novel methodology to incorporate gestures’ semantic properties into the agreement analysis, and (b) a new agreement metric to determine the most suitable gesture set for a PACS.Materials and methodsThree neurosurgical diagnostic tasks were conducted by nine neurosurgeons. The set of commands and gesture lexicons were determined using a Wizard of Oz paradigm. The gestures were decomposed into a set of 55 semantic properties based on the motion trajectory, orientation and pose of the surgeons’ hands and their ground truth values were manually annotated. Finally, a new agreement metric was developed, using the known Jaccard similarity to measure consensus between users over a gesture set.ResultsA set of 34 PACS commands were found to be a sufficient number of actions for PACS manipulation. In addition, it was found that there is a level of agreement of 0.29 among the surgeons over the gestures found. Two statistical tests including paired t-test and Mann Whitney Wilcoxon test were conducted between the proposed metric and the traditional agreement metric. It was found that the agreement values computed using the former metric are significantly higher (p < 0.001) for both tests.ConclusionsThis study reveals that the level of agreement among surgeons over the best gestures for PACS operation is higher than the previously reported metric (0.29 vs 0.13). This observation is based on the fact that the agreement focuses on main features of the gestures rather than the gestures themselves. The level of agreement is not very high, yet indicates a majority preference, and is better than using gestures based on authoritarian or arbitrary approaches. The methods described in this paper provide a guiding framework for the design of future gesture based PACS systems for the OR.

Vision Based Approach to Sign Language Recognition

We propose an algorithm for automatically recognizing some certain amount of gestures from hand movements to help deaf and dumb and hard hearing people. Hand gesture recognition is quite a challenging problem in its form. We have considered a fixed set of manual commands and a specific environment, and develop a effective, procedure for gesture recognition. Our approach contains steps for segmenting the hand region, locating the fingers, and finally classifying the gesture which in general terms means detecting, tracking and recognising. The algorithm is non-changing to rotations, translations and scale of the hand. We will be demonstrating the effectiveness of the technique on real imagery.

Passive Compliance Control of Redundant Serial Manipulators

Passive compliance control is an approach for controlling the contact forces between a robotic manipulator and a stiff environment. This paper considers passive compliance control using redundant serial manipulators with real-time adjustable joint stiffness. Such manipulators can control the elastic behavior of the end-effector by adjusting the manipulator configuration and by adjusting the intrinsic joint stiffness. The end-effector's time-varying elastic behavior is a beneficial quality for constrained manipulation tasks such as opening doors, turning cranks, and assembling parts. The challenge in passive compliance control is finding suitable joint commands for producing the desired time-varying end-effector position and compliance (task manipulation plan). This problem is addressed by extending the redundant inverse kinematics (RIK) problem to include compliance. This paper presents an effective method for simultaneously attaining the desired end-effector position and end-effector elastic behavior by tracking a desired variation in both the position and the compliance. The set of suitable joint commands is not unique; the method resolves the redundancy by minimizing the actuator velocity norm. The method also compensates for joint deflection due to known external loads, e.g., gravity.

Size Doesn’t Matter—What Can Handwriting Tell Us About the Brain?

When you write on the blackboard, you use much larger movements than when you write in a notebook. Yet, the large letters written on the blackboard will appear very similar to the small letters written in the notebook. How does your brain generate these different writing movements? Does it use a single set of commands for both the notebook and blackboard—or multiple commands? In this article, we will present an experiment in which we measured brain activations of people while they were writing letters of different sizes and discuss what we can learn from this experiment about the brain commands that generate these movements.

Prove it! Inferring Formal Proof Scripts from CafeOBJ Proof Scores

CafeOBJ is a language for writing formal specifications for a wide variety of software and hardware systems and for verifying their properties. CafeOBJ makes it possible to verify properties by using either proof scores, which consists of reducing goal-related terms in user-defined modules, or by using theorem proving. While the former is more flexible, it lacks the formal support to ensure that a property has been really proven. On the other hand, theorem proving might be too strict, since only a predefined set of commands can be applied to the current goal; hence, it hardens the verification of properties. In order to take advantage of the benefits of both techniques, we have extended CafeInMaude, a CafeOBJ interpreter implemented in Maude, with the CafeInMaude Proof Assistant (CiMPA) and the CafeInMaude Proof Generator (CiMPG). CiMPA is a proof assistant for proving inductive properties on CafeOBJ specifications that uses Maude metalevel features to allow programmers to create and manipulate CiMPA proofs. On the other hand, CiMPG provides a minimal set of annotations for identifying proof scores and generating CiMPA scripts for these proof scores. In this article, we present the CiMPA and CiMPG, detailing the behavior of the CiMPA and the algorithm underlying the CiMPG and illustrating the power of the approach by using the QLOCK protocol. Finally, we present some benchmarks that give us confidence in the matureness and usefulness of these tools.

Brainwaves driven human-robot collaborative assembly

This paper introduces an approach to controlling an industrial robot using human brainwaves as a means of communication. The developed approach starts by establishing a set of training sessions where an operator is enquired to think about a set of defined commands for the robot and record the brain activities accordingly. The results of the training sessions are then used on the shop floor to translate the brain activities to a set of robot control commands. An industrial case study is carried out to assist the operator in coordinating a collaborative assembly task of a car engine manifold.

Under Threat: One Archive's Tale from the 2017 Napa and Sonoma County Fires

Under ThreatOne Archive’s Tale from the 2017 Napa and Sonoma County Fires James Mockoski (bio) and Courtney Garcia (bio) Francis Ford Coppola and George Lucas founded American Zoetrope as an independent film company in the San Francisco Bay Area in 1969. It was created to bring together talented young filmmakers at a distance from the traditional ways of filmmaking that were entrenched in Hollywood. Zoetrope provided a welcoming space in which to experiment and craft stories in a much different way, appealing to filmmakers like Walter Murch, John Milius, and Carroll Ballard. Films made there left their mark, including American Graffiti (1973), The Conversation (1974), Apocalypse Now (1979), and The Black Stallion (1979), to name only a few. In its almost fifty-year history, Zoetrope has amassed an archive of film, artwork, and movie memorabilia, including the acquisition of the old RKO Research Library.1 While these items are stored in various locations, the bulk of the collection is housed in the Napa Valley, on the famed Inglenook Estate.2 FIRESTORM In early October 2017, wildfires quickly spread throughout Napa and Sonoma Counties in the middle of the night, catching everyone off guard. According to the California Department of Forestry and Fire Protection (CAL FIRE), 11,000 firefighters combated the fires that would burn more than 245,000 acres.3 In addition to Inglenook in Napa County, the Coppola family owns two properties in Sonoma County. At the start of the firestorm, neither was in immediate danger. As the hours went on, however, and the aggressive winds fed the flames, we began implementing a disaster plan, which would mean evacuating the property in the Napa Valley. Our disaster plan wasn’t one that was codified and kept in a binder; instead, it had been developed orally by long-standing colleagues over the last fifteen years. We had discussed what we would do in case of emergency and how we would provide geographical separation by storing our most valuable, unique, and irreplaceable items in off-site vaults more appropriate for assets such as negatives and sound masters. We discussed how we would prioritize our property assets, how to secure the site if assets were to remain on property, the need to find a safe haven for evacuated items, and how we would transport these items to the selected refuge. We were very fortunate that our company has a wealth of resources— transportation key among them. We had an amazing fleet of vehicles at our service. What’s more, we had a wonderful group of dedicated employees who worked hard and diligently to relocate materials from a total of ten buildings (from family homes to production facilities), with assets ranging from the smallest video tape to the largest painting. One of our safe havens was a wine cave on the property, situated far enough away from the fire area that we could use it to safely store our paper documents and other archival materials too large to transport off property; we also used it to store our Ford Model T from The Godfather: Part II (1974). Mr. Coppola is a car enthusiast and has several rare vehicles in his collection, and when the garage where many [End Page 67] of these cars are housed became threatened by the fires, we moved the majority of them to the front of the property, where they could be stored outside of the immediate danger area and covered to protect them from the falling ash. Our off-site facility was a roomy, versatile airport hangar that we used as our designated evacuation area—a place we also could occupy as a command post and set priorities from as the situation unfolded. There, we processed all the materials that had been evacuated from the property, photographing, cataloging, and packing each item securely so that the collection would be safe during the emergency and could be returned to the property efficiently once we received the all-clear. Click for larger view View full resolution Figure 1. The famed Inglenook Estate on a normal day. Photograph by Gundolf Pfotenhauer. Courtesy of American Zoetrope. We have experienced threats to our collections due to natural disasters in the past...

Build Control Command Set Based on EEG Signals via Clustering Algorithm and Multi-Layer Neural Network

Build Control Command Set Based on EEG Signals via Clustering Algorithm and Multi-Layer Neural Network

Nilai-Nilai Pendidikan Dalam Al-Qur’an Surat Luqman

The result of this study —library research— showed that the values of Islamic education are contained in the Holy Qur’an surah Luqman. There are at least three basic education, namely aqidah education, syari’ah education and character education. Aqidah education, there are two things: (1) prohibition of associating partners with Allah. Luqman al-Hakim himself had to prioritize monotheism education (tauhid) to his children, (2) believe in the place of hereafter. Luqman ordered his children to believe the reward of all his deeds. Especially retaliation for our gratitude to Him for every blessing and our sense of respect for both parents. Syari’ah Education, there are two things, namely a command set up prayer and amar ma‘rūf nahy munkar. Character education, which is the command to ingratitude towards Allah SWT. For all the blessings and grace of God, we should be grateful to Him.

Use of human gestures for controlling a mobile robot via adaptive CMAC network and fuzzy logic controller

Abstract Mobile robots with manipulators have been more and more commonly applied in extreme and hostile environments to assist or even replace human operators for complex tasks. In addition to autonomous abilities, mobile robots need to facilitate the human–robot interaction control mode that enables human users to easily control or collaborate with robots. This paper proposes a system which uses human gestures to control an autonomous mobile robot integrating a manipulator and a video surveillance platform. A human user can control the mobile robot just as one drives an actual vehicle in the vehicle’s driving cab. The proposed system obtains human’s skeleton joints information using a motion sensing input device, which is then recognized and interpreted into a set of control commands. This is implemented, based on the availability of training data set and requirement of in-time performance, by an adaptive cerebellar model articulation controller neural network, a finite state machine, a fuzzy controller and purposely designed gesture recognition and control command generation systems. These algorithms work together implement the steering and velocity control of the mobile robot in real-time. The experimental results demonstrate that the proposed approach is able to conveniently control a mobile robot using virtual driving method, with smooth manoeuvring trajectories in various speeds.