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Goerz, Michael Hartmut [Verfasser]. "Optimizing Robust Quantum Gates in Open Quantum Systems / Michael Hartmut Goerz." Kassel : Universitätsbibliothek Kassel, 2015. http://d-nb.info/1072259729/34.
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Salinas, Cerda Ania Carola del Carmen. "Guarding the gates : the essential role of a robust Pre-Trial Chamber in ensuring the International Criminal Court's impartiality, independence and legitimacy." Thesis, University of Glasgow, 2015. http://theses.gla.ac.uk/6420/.
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The Pre-Trial Chamber (PTC) of the International Criminal Court (ICC) was conceived of as the Court’s gatekeeper and empowered in the Rome Statute to provide an essential counterbalance to the significant discretionary powers granted to the Prosecutor. This thesis analyses in detail the PTC’s powers at the different stages of the Court’s proceedings in which it is called to intervene – ie pre-investigation, investigation and pre-trial stages – and argues that, in general terms and save some limitations, the PTC has the necessary tools to carry out its function. In particular, the PTC has been empowered to prevent possible abuses of power and shield the Prosecutor from external pressures through the judicial review of his most critical discretionary decisions. By way of that judicial control, the PTC is meant to examine the rationale behind the Prosecutor’s decisions in order to guarantee that the exercise of discretion is not abusive or the result of improper political pressures. This is necessary to safeguard the legitimacy of the institution as a whole and to protect the rights of those that can be affected by the Court’s investigations and prosecutions. However, a systematic evaluation of the way in which these powers have been applied reveals that the PTC’s judges have adopted a rather cautious approach to their role, showing some reluctance to firmly scrutinise the Prosecutor’s exercise of discretion. As a result of the Court’s inherent limitations and the political climate in which it operates, there is a concrete risk that external actors may try to politicise the role of the Court, exerting political pressures on the Prosecutor. The adoption of a more proactive and firm role by the PTC will not only encourage a more transparent decision-making process by the Prosecutor, but will also urge cooperation and genuine investigations and prosecutions at the national level, therefore minimising the risk of the Court’s political instrumentalisation. Accordingly, this thesis argues that, for as long as the PTC boldly embraces its full powers, the ICC will function smoothly and strengthen its reputation as a fair and impartial means by which to obtain international criminal justice.
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Dong, Wenzheng. "Quantum Information Processing with Color Center Qubits: Theory of Initialization and Robust Control." Diss., Virginia Tech, 2021. http://hdl.handle.net/10919/103438.
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Quantum information technologies include secure quantum communications and ultra precise quantum sensing that are significantly more efficient than their classical counterparts. To enable such technologies, we need a scalable quantum platform in which qubits are con trollable. Color centers provide controllable optically-active spin qubits within the coherence time limit. Moreover, the nearby nuclear spins have long coherence times suitable for quantum memories. In this thesis, I present a theoretical understanding of and control protocols for various color centers. Using group theory, I explore the wave functions and laser pumping-induced dynamics of VSi color centers in silicon carbide. I also provide dynamical decoupling-based high-fidelity control of nuclear spins around the color center. I also present a control technique that combines holonomic control and dynamically corrected control to tolerate simultaneous errors from various sources. The work described here includes a theoretical understanding and control techniques of color center spin qubits and nuclear spin quantum memories, as well as a new platform-independent control formalism towards robust qubit control.Doctor of Philosophy
Quantum information technologies promise to offer efficient computations of certain algorithms and secure communications beyond the reach of their classical counterparts. To achieve such technologies, we must find a suitable quantum platform to manipulate the quantum information units (qubits). Color centers host spin qubits that can enable such technologies. However, it is challenging due to our incomplete understanding of their physical properties and, more importantly, the controllability and scalability of such spin qubits. In this thesis, I present a theoretical understanding of and control protocols for various color centers. By using group theory that describes the symmetry of color centers, I give a phenomenological model of spin qubit dynamics under optical control of VSi color centers in silicon carbide. I also provide an improved technique for controlling nuclear spin qubits with higher precision. Moreover, I propose a new qubit control technique that combines two methods - holonomic control and dynamical corrected control - to provide further robust qubit control in the presence of multiple noise sources. The works in this thesis provide knowledge of color center spin qubits and concrete control methods towards quantum information technologies with color center spin qubits.
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Smith, Kellen. "Adiabatisk genväg till quditberäkning." Thesis, Uppsala universitet, Institutionen för fysik och astronomi, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-447704.
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One of the major challenges hindering advancement of quantum computing is the sensitive nature of the physical systems used to build a quantum computer. One suggestion for improving reliability is a particular type of logic gates, based on Berry's geometric phase, showing improved robustness to external disturbance of the quantum system over the course of a calculation. Such logic gates have previously been shown for the smallest possible two-level qubits. Using the method of adiabatic shortcut we endevour to discover similarly realistic and robust logic gates for units of quantum information in higher dimensions. The example shown in this paper discusses three-level qutrits, but is expected to apply to theoretically unlimited higher dimensions since new geometric complications are expected to arise primarily when moving from a two-level to a multi-level problem. We here present a set of primitive single-qutrit gates able to perform universal quantum computations if supplemented by a two-qutrit gate. We also present a set of condensed single-qutrit gates for commonly needed operations. By detailing the underlying mathematical framework, relying on the multi-dimensional generalisation of Berry's phase describing the time evolution of degenerate quantum states, we also suggest an easily scalable geometric interpretation of quantum gates in higher dimensions along with visual representation of logic gates using parameters of the physical system to sequentially unlock and manipulate subspaces of the quantum information unit.
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Jaehn, Florian. "Robust flight gate assignment." Frankfurt, M. Berlin Bern Bruxelles New York, NY Oxford Wien Lang, 2007. http://d-nb.info/987654136/04.
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Jaehn, Florian. "Robust flight gate assignment /." Frankfurt am Main [u.a.] : Lang, 2008. http://d-nb.info/987654136/04.
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Casagrande, Anthony Joseph. "Robust, Low Power, Discrete Gate Sizing." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5656.
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Ultra-deep submicron circuits require accurate modeling of gate delay in order to meetaggressive timing constraints. With the lack of statistical data, variability due to the mechanical manufacturing process and its chemical properties poses a challenging problem. Discrete gate sizing requires (i) accurate models that take into account random parametric variation and (ii) a fair allocation of resources to optimize the solution. The proposed GTFUZZ gate sizing algorithm handles both tasks. Gate sizing is modeled as a resource allocation problem using fuzzy game theory. Delay is modeled as a constraint and power is optimized in this algorithm. In GTFUZZ, delay is modeled as a fuzzy goal with fuzzy parameters to
capture the imprecision of gate delay early in the design phase when extensive empirical data is absent. Dynamic power is modeled as a fuzzy goal without varying coefficients. The fuzzy goals provide a flexible platform for multimetric optimization. The robust GTFUZZ algorithm is compared against fuzzy linear programming (FLP) and deterministic worst-case FLP (DWCFLP) algorithms. The benchmark circuits are first synthesized, placed, routed, and optimized for performance using the Synopsys University 32/28nm standard cell library and technology files. Operating at the optimized clock frequency, results show an average
power reduction of about 20% versus DWCFLP and 9% against variation-aware gate sizing with FLP. Timing and timing yield are verified by both Synopsys PrimeTime and Monte Carlo simulations of the critical paths using HSPICE.
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Horta, Miguel Ângelo Dias. "Robot plays board games with human." Master's thesis, Universidade de Aveiro, 2018. http://hdl.handle.net/10773/23800.
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mestrado em Engenharia Eletrónica e TelecomunicaçõesO campo da robótica tem-se desenvolvido a um ritmo impressionante. O dia em que os robôs serão uma constante dentro da sociedade está mais perto do que nunca. No entanto, na cultura popular os robôs ainda são vistos como uma ameaça, desconsiderando os seus benefícios. Este medo irracional precisa de ser desmistificado. Uma das opções para melhorar a perceção da humanidade em relação aos robôs, pode basear-se na disseminação de robôs de entretenimento. Este tipo de robôs, que ´e desenvolvido com o único objetivo de trazer felicidade aos seus humanos, proporciona um ambiente seguro onde se pode interagir com os robôs, atestando a sua segurança, previsibilidade, funcionalidade, confiabilidade e robustez, melhorando positivamente a perceção das massas para com robôs. O objetivo final será que tais experiencias contribuam também para a aceitação de robôs mais complexos dentro da sociedade. ´E dentro deste conjunto de ideias que esta dissertação foi escrita. Usando algumas das mais recentes inovações na área , foi desenvolvido um ambiente onde um humano pode experimentar jogar jogos de tabuleiro com ou contra um braço robótico. Especificamente foi desenvolvido um ambiente onde é possível jogar o jogo do galo com o robô. Este robô é formado pela interconexão do braço JACO da Kinova e da câmara da Microsoft Kinect. Além disso, o mesmo ambiente foi replicado num mundo simulado através do simulador Gazebo.
The robotics field has been developing at an outstanding pace. The day in which robots will be commonplace within the society is closer than ever. However, in the popular culture robots are still perceived as a threat, disregarding its benefits. This irrational fear needs to be demystified. One of the options to improve humanity perception towards robots, may rely in the dissemination of entertainment robots. This type of robots, which is developed with the only purpose of bringing joy to its human peers, provide a safe environment where robots can be interacted, attesting robot’s security, predictability, functionality, reliability, and robustness, while positively improving masses’ perception towards robots. The end goal shall be that such experiences also contribute to the acceptance of more complex robots within the society. It is within this set of ideas that this dissertation is written. Using some of the most recent innovations in the field, an environment was developed where a human can experience playing board games with or against a robotic arm. Specifically it was developed an environment where it is possible to play tic-tac-toe with the robot. This robot is formed by the interconnection of a Kinova’s JACO arm with one Microsoft’s Kinect motion cam. Furthermore, the same environment was replicated in a simulated world using the Gazebo simulator.
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Chudoung, Jerawan. "Robust Control for Hybrid, Nonlinear Systems." Diss., Virginia Tech, 2000. http://hdl.handle.net/10919/26983.
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We develop the robust control theories of stopping-time nonlinear systems and switching-control nonlinear systems. We formulate a robust optimal stopping-time control problem for a state-space nonlinear system and give the connection between various notions of lower value function for the associated game (and storage function for the associated dissipative system) with solutions of the appropriate variational inequality (VI). We show that the stopping-time rule can be obtained by solving the VI in the viscosity sense. It also happens that a positive definite supersolution of the VI can be used for stability analysis. We also show how to solve the VI for some prototype examples with one-dimensional state space.
For the robust optimal switching-control problem, we establish the Dynamic Programming Principle (DPP) for the lower value function of the associated game and employ it to derive the appropriate system of quasivariational inequalities (SQVI) for the lower value vector function. Moreover we formulate the problem in the L2-gain/dissipative system framework. We show that, under appropriate assumptions, continuous switching-storage (vector) functions are characterized as viscosity supersolutions of the SQVI, and that the minimal such storage function is equal to the lower value function for the game. We show that the control strategy achieving the dissipative inequality is obtained by solving the SQVI in the viscosity sense; in fact this solution is also used to address stability analysis of the switching system. In addition we prove the comparison principle between a viscosity subsolution and a viscosity supersolution of the SQVI satisfying a boundary condition and use it to give an alternative derivation of the characterization of the lower value function. Finally we solve the SQVI for a simple one-dimensional example by a direct geometric construction.Ph. D.
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Luo, Cheng Computer Science & Engineering Faculty of Engineering UNSW. "Robust object tracking using the particle filtering and level set methods." Publisher:University of New South Wales. Computer Science & Engineering, 2009. http://handle.unsw.edu.au/1959.4/43682.
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Robust object tracking plays a central role in many applications of image processing, computer vision and automatic control. In this thesis, robust object tracking under complex environments, including heavy clutters in the background, low resolution of the image sequences and non-stationary camera, has been studied. The interest of this study stems from the improvement of the performance of visual tracking using particle filtering. A Geometric Active contour-based Tracking Estimator, namely GATE, has been developed in order to tackle the problems in robust object tracking where the existence of multiple features or good object detection is not guaranteed. GATE combines particle filtering and the level set-based active contour method. The particle filtering method is able to deal with nonlinear and non-Gaussian recursive estimation problems, and the level set-based active contour method is capable of classifying state space of particle filtering under the methodology of one class classification. By integrating this classifier into the particle filtering, geometric information introduced by the shape prior and pose invariance of the tracked object in the level set-based active contour method can be utilised to prevent the particles corresponding to outlier measurements from being heavily reweighted. Hence, this procedure reshapes and refines the posterior distribution of the particle filtering. To verify the performance of GATE, the performance of the standard particle filter is compared with that of GATE. Since video sequences in different applications are usually captured by diverse devices, GATE and the standard particle filters with the identical initialisation are studied on image sequences captured by the handhold, stationary and PTZ camera, respectively. According to experimental results, even though a simple color observation model based on the Hue-Saturation-Value (HSV) color histogram is adopted, the newly developed. GATE significantly improves the performance of the particle filtering for object tracking in complex environments. Meanwhile, GATE initialises a novel approach to tackle the impoverishment problem for recursive Bayesian estimation using sampling method.
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Degnan, Brian Paul. "Temperature robust programmable subthreshold circuits through a balanced force approach." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/47548.
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The subthreshold region of operation has simple physics which allows for a balanced-force approach to behavioral modeling that has shown to be robust to temperature, and a model that encapsulates MOSFET behavior across all operational regions has been developed. The subthreshold region of operation also allows for injection of charge onto floating nodes that allows for persistent storage that can be used in a variety of applications. The combination of charge storage and device modeling has allowed for the development of programmable circuits for digital applications.
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Gaudl, Swen. "Building robust real-time game AI : simplifying & automating integral process steps in multi-platform design." Thesis, University of Bath, 2016. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.698997.
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Digital games are part of our culture and have gained significant attention over the last decade. The growing capabilities of home computers, gaming consoles and mobile phones allow current games to visualise 3D virtual worlds, photo-realistic characters and the inclusion of complex physical simulations. The growing computational power of those devices enables the usage of complex algorithms while visualising data. Therefore, opportunities arise for developers of interactive products such as digital games which introduce new, challenging and exciting elements to the next generation of highly interactive software systems. Two of those challenges, which current systems do not address adequately, are design support for creating Intelligent Virtual Agents and more believable non-player characters for immersive game-play. We start in this thesis by addressing the agent design support first and then extend the research, addressing the second challenge. The main contributions of this thesis are: - The POSH-SHARP system is a framework for the development of game agents. The platform is modular, extendable, offers multi-platform support and advanced software development features such as behaviour inspection and behaviour versioning. The framework additionally integrates an advanced information exchange mechanism supporting loose behaviour coupling. - The Agile behaviour design methodology integrates agile software development and agent design. To guide users, the approach presents a work-flow for agent design and guiding heuristics for their development. - The action selection augmentation ERGo introduces a "white-box" solution to altering existing agent frameworks, making their agents less deterministic. It augments selected behaviours with a bio-mimetic memory to track and adjust their activation over time. With the new approach to agent design, the development of "deepagent" behaviour for digital adversaries and advanced tools supporting their design is given. Such mechanisms should enable developers to build robust non-player characters that act more human-like in an efficient and robust manner. Within this thesis, different strategies are identified to support the design of agents in a more robust manner and to guide developers. These discussed mechanisms are then evolved to develop and design Intelligent Virtual Agents. Because humans are still the best measurement for human-likeness, the evolutionary cycle involves feedback given by human players.
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Shah, Nauman. "Designing motivational games for robot-mediated stroke rehabilitation." Thesis, University of Hertfordshire, 2016. http://hdl.handle.net/2299/17193.
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The repetitive and sometimes mundane nature of conventional rehabilitation therapy provides an ideal opportunity for development of interactive and challenging therapeutic games that have the potential to engage and motivate the players. Different game design techniques can be used to design rehabilitation games that work alongside robotics to provide an augmentative therapy to stroke patients in order to increase their compliance and motivation towards therapy. The strategy we followed to develop such a system was to (i) identify the key design parameters that can influence compliance, prolonged activity, active participation and patient motivation, (ii) use these parameters to design rehabilitation games for robot-mediated stroke-rehabilitation, (iii) investigate the effects of these parameters on motivation and performance of patients undergoing home-based rehabilitation therapy. Three main studies were conducted with healthy subjects and stroke subjects. The first study identified the effects of the design parameters on healthy players' motivation. Using the results from this study, we incorporated the parameters into rehabilitation games, following player-centric iterative design process, which were formatively evaluated during the second study with healthy subjects, stroke patients, and health-care professionals. The final study investigated the research outcomes from use of these games in three patient's homes during a 6 weeks clinical evaluation. In summary, the research undertaken during this PhD successfully identified the design techniques influencing patient motivation and adherence as well as highlighted further important elements that contribute to maintaining therapeutic interaction between patients and the therapy medium, mainly the technological usability and reliability of the system.
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Zarantonello, Giorgio [Verfasser], and Christian [Akademischer Betreuer] Ospelkaus. "Robust high fidelity microwave near-field entangling quantum logic gate / Giorgio Zarantonello ; Betreuer: Christian Ospelkaus." Hannover : Gottfried Wilhelm Leibniz Universität Hannover, 2020. http://d-nb.info/1214367097/34.
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Ruan, Hui Yu. "Robot rescue : an interactive game /." Online version of thesis, 2006. https://ritdml.rit.edu/dspace/handle/1850/2802.
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Acar, Mesut Korhan. "Robust dock assignments at less-than-truckload terminals." [Tampa, Fla.] : University of South Florida, 2004. http://purl.fcla.edu/fcla/etd/SFE0000435.
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Prasad, Deepika. "Pursuit Evasion From Multiple Pursuers Using Speed Fluctuation." University of Cincinnati / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1367928486.
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Barras, Anne Helen Susan. "The great game : games-playing and imperial romance." Thesis, Royal Holloway, University of London, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.368875.
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Förster, Frank. "Robots that say 'no' : acquisition of linguistic behaviour in interaction games with humans." Thesis, University of Hertfordshire, 2013. http://hdl.handle.net/2299/20781.
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Negation is a part of language that humans engage in pretty much from the onset of speech. Negation appears at first glance to be harder to grasp than object or action labels, yet this thesis explores how this family of ‘concepts’ could be acquired in a meaningful way by a humanoid robot based solely on the unconstrained dialogue with a human conversation partner. The earliest forms of negation appear to be linked to the affective or motivational state of the speaker. Therefore we developed a behavioural architecture which contains a motivational system. This motivational system feeds its state simultaneously to other subsystems for the purpose of symbol-grounding but also leads to the expression of the robot’s motivational state via a facial display of emotions and motivationally congruent body behaviours. In order to achieve the grounding of negative words we will examine two different mechanisms which provide an alternative to the established grounding via ostension with or without joint attention. Two large experiments were conducted to test these two mechanisms. One of these mechanisms is so called negative intent interpretation, the other one is a combination of physical and linguistic prohibition. Both mechanisms have been described in the literature on early child language development but have never been used in human-robot-interaction for the purpose of symbol grounding. As we will show, both mechanisms may operate simultaneously and we can exclude none of them as potential ontogenetic origin of negation.
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Stefansson, Elis. "Hierarchical Dynamic Games for Human-Robot Interaction with Applications to Autonomous Vehicles." Thesis, KTH, Matematik (Avd.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-228739.
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The deployment of autonomous vehicles has become an active area of research due to its potential solution as a more efficient and intelligent transportation system. While early research focused on isolated systems, autonomous vehicles integrated on public roads have lately received substantial attention. Here, the autonomous vehicle needs to interact with other drivers, in particular human drivers. Accurate interaction models are then crucial: the actions of one driver will affect the actions of other drivers sharing the road, and vice versa. This thesis presents a human-robot interaction model for autonomous vehicles with focus on longer-time planning. More precisely, the interaction between an autonomous vehicle and a human driver is captured as a hierarchical game. The hierarchical game predicts future actions of the two agents by partitioning its planning horizon into two sub-horizons: one high-fidelity horizon modelling immediate interactions and one low-fidelity horizon approximating remaining longer-time interactions. The objectives of the agents are captured via reward functions and the solution of the game is obtained as a probabilistic variant of the feedback Stackelberg solution. The solution is used by the autonomous vehicle to plan its optimal control trajectory, typically in a receding horizon manner. The model is validated via simulations and case studies. The former involve two cars acting according to the hierarchical game. Behaviour such as overtaking and merging emerges naturally as a consequence of the game. The case studies consider instead an autonomous truck platoon and a human driver, where the hierarchical game can be integrated into the platoon controller by restricting the human interaction to one truck at a time. The resulting platoon opens up a wider truck gap next to the human if the human is subject to danger in its lane (the human can then merge into the platoon lane avoiding the danger), while discouraging such cut-ins otherwise by keeping a tight formation. This behaviour is again not hard-coded but emerges from the game. Both the simulations and the case studies are compared with shorter look-ahead alternatives. Our model yields more realistic behaviour and better performance.Utvecklingen av autonoma fordon har blivit ett aktivt forskningsområde på grund av dess potentiella lösning som ett mer effektivt och intelligent transportsystem. Medan tidig forskning fokuserat på isolerade system har autonoma fordon på allmänna vägar nyligen mottagit avsevärd uppmärksamhet. I sådana förhållanden behöver det autonoma fordonet interagera med andra förare, i synnerhet mänskliga förare. Precisa interaktionsmodeller är här av central betydelse: en förares agerande kommer att påverka andra förares agerande och vice versa. I den här rapporten presenteras en människa-robot-interaktionsmodell för autonoma fordon med fokus på längre tidsplanering. Mer precist modelleras interaktionen mellan ett autonomt fordon och en mänsklig förare som ett hierarkiskt spel. Det hierarkiska spelet predikterar spelarnas framtida agerande genom att partionera sin planeringshorisont i två delhorisonter: en högupplöst horisont som modellerar närliggande interaktioner och en lågupplöst horisont som approximerar resterande mer avlägsna interaktioner. Spelarnas objektiv är representerade via belöningsfunktioner och spelets lösning erhålls som en stokastisk variant av ‘feedback Stackelberg’-lösningen. Lösningen används av det autonoma fordonet för att planera optimala styrtrajektorier. Modellen valideras via simuleringar och fallstudier. Simuleringarna innefattar två bilar som agerar enligt det hierarkiska spelet. Beteenden såsom omkörning och filbyte utfaller naturligt som konsekvens av spelet. Fallstudierna består av en självkörande konvoj av lastbilar samt en mänsklig förare där det hierarkiska spelet kan bli integrerat i konvojens styrsystem genom att begränsa den mänskliga interaktionen till en lastbil i taget. Den resulterande konvojen öppnar upp ett större lastbilsgap bredvid människan om människan utsätts för fara i sin fil (människan kan då byta till konvojens fil och därmed undgå faran), medan konvojen annars motverkar sådana filbyten genom att hålla en tät formation. Detta beteende är återigen ej hårdkodat utan utfaller ur spelet. Både simuleringarna och fallstudierna jämförs med alternativ med kortare tidsplanering. Den föreslagna modellen resulterar i mer naturliga beteenden samt ökad prestanda.
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Hart, Patrick Hammel. "FPAA realization of a controlled directional microphone." Diss., Online access via UMI:, 2009.
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Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Electrical and Computer Engineering, 2009.Includes bibliographical references.
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Warmke, Daniel A. "Complexity, Fun, and Robots." Ohio University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1565298442450712.
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Mutlu, Baris Ragip. "Real-time Motion Control Using Field Programmable Gate Arrays." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612049/index.pdf.
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In this thesis, novel implementation methods for FPGA based real-time motion control systems are investigated. These methods are examined for conventional and modern controller topologies as well as peripheral device interfaces which are mutually essential pieces of a motion controller. The developed methods are initially tested one by one to assess the performance of the individual designand finally an assembled solution is developed to test the overall design. Tests of the overall design are realized via hardware-in-the-loop simulation of a real-world control problem, selected as a CNC machining center. The developed methods are discussed in terms of their success, resource consumptions and attainable sampling rates.
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Keiner, Robert [Verfasser], Jürgen [Akademischer Betreuer] Popp, and Kirsten [Akademischer Betreuer] Küsel. "Cavity-enhanced raman gas spectrometry of biogenic gases / Robert Keiner. Gutachter: Jürgen Popp ; Kirsten Küsel." Jena : Thüringer Universitäts- und Landesbibliothek Jena, 2015. http://d-nb.info/1072622149/34.
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Leßenich, Simon Robert [Verfasser], Erich [Akademischer Betreuer] Grädel, Mikołaj [Akademischer Betreuer] Bojańczyk, and Wolfgang [Akademischer Betreuer] Thomas. "Counting logics and games with counters / Simon Robert Leßenich ; Erich Grädel, Mikołaj Bojańczyk, Wolfgang Thomas." Aachen : Universitätsbibliothek der RWTH Aachen, 2015. http://d-nb.info/112807706X/34.
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Jerčić, Petar. "Design and Evaluation of Affective Serious Games for Emotion Regulation Training." Doctoral thesis, Blekinge Tekniska Högskola, Institutionen för kreativa teknologier, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-10478.
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Emotions are thought to be one of the key factors that critically influences human decision-making. Emotion regulation can help to mitigate emotion related decision biases and eventually lead to a better decision performance. Serious games emerged as a new angle introducing technological methods to learning emotion regulation, where meaningful biofeedback information communicates player's emotional state. Games are a series of interesting choices, where design of those choices could support an educational platform to learning emotion regulation. Such design could benefit digital serious games as those choices could be informed though player's physiology about emotional states in real time. This thesis explores design and evaluation methods for creating serious games where emotion regulation can be learned and practiced. Design of a digital serious game using physiological measures of emotions was investigated and evaluated. Furthermore, it investigates emotions and the effect of emotion regulation on decision performance in digital serious games. The scope of this thesis was limited to digital serious games for emotion regulation training using psychophysiological methods to communicate player's affective information. Using the psychophysiological methods in design and evaluation of digital serious games, emotions and their underlying neural mechanism have been explored. Effects of emotion regulation have been investigated where decision performance has been measured and analyzed. The proposed metrics for designing and evaluating such affective serious games have been extensively evaluated. The research methods used in this thesis were based on both quantitative and qualitative aspects, with true experiment and evaluation research, respectively. Digital serious games approach to emotion regulation was investigated, player's physiology of emotions informs design of interactions where regulation of those emotions could be practiced. The results suggested that two different emotion regulation strategies, suppression and cognitive reappraisal, are optimal for different decision tasks contexts. With careful design methods, valid serious games for training those different strategies could be produced. Moreover, using psychophysiological methods, underlying emotion neural mechanism could be mapped. This could inform a digital serious game about an optimal level of arousal for a certain task, as evidence suggests that arousal is equally or more important than valence for decision-making. The results suggest that it is possible to design and develop digital serious game applications that provide helpful learning environment where decision makers could practice emotion regulation and subsequently improve their decision-making. If we assume that physiological arousal is more important than physiological valence for learning purposes, results show that digital serious games designed in this thesis elicit high physiological arousal, suitable for use as an educational platform.
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Consoni, Leonardo José. "Adaptable system for robotic telerehabilitation with serious games." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-15052017-165044/.
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Over the last decades, the worldwide increase in cases of neuromotor health issues, due to overall population aging, motivated a growing research interest in improving rehabilitation processes with robotics. The performed studies opened the possibility to include other auxiliary technologies in physical and occupational therapy, like virtual reality and remote interaction between patients and therapists. Although there are verified and potential benefits to rehabilitation provided by these techniques, there are still few attempts towards tooling and methodology standardization, which could lead to faster developments. This work describes the creation of a proposed common computational platform for robotic rehabilitation studies, with support for virtual games and telecommunication. A preceding literature review helped to determine the requirements and development tools for such multipurpose system. Its modular and configurable design aims to allow components reuse and adaptability to different robotic therapy cases, even ones not initially intended, preventing work duplication. Details about the system\'s structure, components and operation are shown, focusing its provided flexibility. Multiplayer games involving position and force control are also created to test the proposed system in real and simulated environment, in order to demonstrate its usability for application and evaluation of robotic rehabilitation strategies. At the end, the results obtained so far are discussed and considerations about missing points and future developments are made.Nas últimas décadas, o aumento global nos casos de problemas de saúde neuromotores, devido ao envelhecimento da população, motivou um interesse crescente na pesquisa sobre melhoria de processos de rehabilitação utilizando robótica. Os estudos realizados realizados abriram possibilidade de se incluir outras tecnologias auxiliares na terapia física e ocupacional, como realidade virtual e interação remota entre pacientes e terapeutas. Apesar dos benefícios verificados ou potenciais da aplicação dessas técnicas, ainda há poucas iniciativas no sentido de padronizar ferramentas e metodologias para sua implementação e teste, o que poderia catalisar os avanços na área. Esse trabalho descreve a criação de uma plataforma computacional comum para estudos de Reabilitação Robótica, com suporte a utilização de Jogos Sérios e teleoperação. Uma revisão bibliográfica prévia ajudou a definir os requisitos e ferramentas de desenvolvimento adequadas para tal sistema multipropósito. Seu projeto modular e configurável tem o intuito de permitir reutilização de componentes e sua fácil adaptação a diferentes tipos de terapia, mesmo não inicialmente planejadas, evitando duplicação de trabalho. Jogos multijogador envolvendo controle de força e posição são também criados para testar o sistema proposto em situações reais ou simuladas, de modo a demonstrar sua utilidade para aplicação Detalhes de sua estrutura de operação, protocolos de comunicação e componentes são mostrados, destacando-se a flexibilidade oferecida. Testes simples de viabilidade com indivíduos saudáveis são realizados, a fim de demonstrar sua utilidade para aplicação e avaliação de estratégias de reabilitação robótica. Ao fim, os resultados obtidos até então são discutidos, e considerações sobre informações ainda faltantes e trabalhos futuros são feitas.
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Pedroni, Ricardo Umbria. "Sistema autônomo em FPGA para captura e processamento em tempo real de imagens da pupila." Universidade Tecnológica Federal do Paraná, 2011. http://repositorio.utfpr.edu.br/jspui/handle/1/294.
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Essa dissertação propõe um algoritmo e um equipamento (hardware) para captação de imagens da pupila do olho humano e processamento das mesmas a fim de obter, de forma portátil, autônoma, segura, não invasiva e em tempo real, informações sobre a pupila. Mais especificamente, o objetivo é obter informações que permitam determinar o diâmetro da pupila, tanto de forma estática (pupila com tamanho estável, sem a incidência intencional de luz) quanto dinâmica (pupila variando devido à aplicação de luz com intensidade variável). Tal sistema pode ser utilizado no setor da saúde, por exemplo, para realização da pupilometria, exame feito na área de oftalmologia, ou para medição da velocidade de expansão da pupila, exame auxiliar no diagnóstico de uma série de doenças que afetam o sistema nervoso.This dissertation proposes an algorithm and a corresponding hardware implementation capable of capturing images from the human eye and processing these images to obtain, in a portable, autonomous, secure, and non-invasive way, in real time, information regarding the pupil. More specifically, the objective is to obtain information that allows the equipment to determine the pupil's diameter, both in static form (i.e., with constant light intensity) and in dynamic form (pupil under varying light intensity). Such a system can be used in the health sector, for example, in exams such as pupillometry, a test done by ophthalmologists, or for measuring the pupil's expansion rate, a test used in the diagnosis of a series of diseases that affect the nervous system.
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Dureckova, Hana. "Robust Machine Learning QSPR Models for Recognizing High Performing MOFs for Pre-Combustion Carbon Capture and Using Molecular Simulation to Study Adsorption of Water and Gases in Novel MOFs." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/37288.
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Metal organic frameworks (MOFs) are a class of nanoporous materials composed through self-assembly of inorganic and organic structural building units (SBUs). MOFs show great promise for many applications due to their record-breaking internal surface areas and tunable pore chemistry. This thesis work focuses on gas separation applications of MOFs in the context of carbon capture and storage (CCS) technologies. CCS technologies are expected to play a key role in the mitigation of anthropogenic CO2 emissions in the near future. In the first part of the thesis, robust machine learning quantitative structure-property relationship (QSPR) models are developed to predict CO2 working capacity and CO2/H2 selectivity for pre-combustion carbon capture using the most topologically diverse database of hypothetical MOF structures constructed to date (358,400 MOFs, 1166 network topologies). The support vector regression (SVR) models are developed on a training set of 35,840 MOFs (10% of the database) and validated on the remaining 322,560 MOFs. The most accurate models for CO2 working capacities (R2 = 0.944) and CO2/H2 selectivities (R2 = 0.876) are built from a combination of six geometric descriptors and three novel y-range normalized atomic-property-weighted radial distribution function (AP-RDF) descriptors. 309 common MOFs are identified between the grand canonical Monte Carlo (GCMC) calculated and SVR-predicted top-1000 high-performing MOFs ranked according to a normalized adsorbent performance score. This work shows that SVR models can indeed account for the topological diversity exhibited by MOFs.
In the second project of this thesis, computational simulations are performed on a MOF, CALF-20, to examine its chemical and physical properties which are linked to its exceptional water-resisting ability. We predict the atomic positions in the crystal structure of the bulk phase of CALF-20, for which only a powder X-ray diffraction pattern is available, from a single crystal X-ray diffraction pattern of a metastable phase of CALF-20. Using the predicted CALF-20 structure, we simulate adsorption isotherms of CO2 and N2 under dry and humid conditions which are in excellent agreement with experiment. Snapshots of the CALF-20 undergoing water sorption simulations reveal that water molecules in a given pore adsorb and desorb together due to hydrogen bonding. Binding sites and binding energies of CO2 and water in CALF-20 show that the preferential CO2 uptake at low relative humidities is driven by the stronger binding energy of CO2 in the MOF, and the sharp increase in water uptake at higher relative humidities is driven by the strong intermolecular interactions between water.
In the third project of this thesis, we use computational simulations to investigate the effects of residual solvent on Ni-BPM’s CH4 and N2 adsorption properties. Single crystal X-ray diffraction data shows that there are two sets of positions (Set 1 and 2) that can be occupied by the 10 residual DMSO molecules in the Ni-BPM framework. GCMC simulations of CH4 and N2 uptake in Ni-BPM reveal that CH4 uptake is in closest agreement with experiment when the 10 DMSO’s are placed among the two sets of positions in equal ratio (Mixed Set). Severe under-prediction and over-prediction of CH4 uptake are observed when the DMSO’s are placed in Set1 and Set 2 positions, respectively. Through binding site analysis, the CH4 binding sites within the Ni-BPM framework are found to overlap with the Set 1 DMSO positions but not with the Set 2 DMSO positions which explains the deviations in CH4 uptake observed for these cases. Binding energy calculations reveal that CH4 molecules are most stabilized when the DMSO’s are in the Mixed Set of positions.
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Endruschat, Achim [Verfasser], Robert [Akademischer Betreuer] Weigel, Martin [Akademischer Betreuer] März, and Martin [Gutachter] März. "Simulationsmodell für einen GaN-HEMT mit Schottky p-GaN-Gate / Achim Endruschat ; Gutachter: Martin März ; Robert Weigel, Martin März." Erlangen : Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), 2021. http://d-nb.info/1239898479/34.
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Calife, Daniel. "Robot ARena: uma infra-estrutura para o desenvolvimento de jogos com realidade aumentada espacial." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/3/3141/tde-28032008-162730/.
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Atualmente Jogos Eletrônicos possuem uma grande relevância no setor econômico, na computação e na pesquisa acadêmica, não se limitando apenas a aplicações de entretenimento. Na busca por inovação na jogabilidade e nas interfaces interativas dos jogos eletrônicos, a Realidade Aumentada é uma das novas fronteiras a serem exploradas. Este trabalho apresenta a pesquisa, desenvolvimento e teste de uma infra-estrutura, denominada Robot ARena, para o desenvolvimento de jogos inovadores utilizando a Realidade Aumentada e as novas interfaces que esta tecnologia possibilita. Baseada em interfaces horizontais e composta por elementos de hardware e software, a Robot ARena possui uma arquitetura flexível que possibilita diversas formas de interação e de visualização. Outro aspecto previsto neste projeto é o controle e a comunicação de robôs, que podem ser utilizados como avatares nos jogos. Os conceitos envolvidos, Jogos Eletrônicos e Realidade Aumentada Espacial, são discutidos, bem como os trabalhos que inspiraram alguns dos aspectos desta infra-estrutura. Um protótipo da Robot ARena foi implementado e testado e utilizado no desenvolvimento de dois protótipos de jogos, FootBot ARena e TanSpace, que trazem novos desafios a esta infra-estrutura, como explorar a influência de objetos virtuais aos objetos reais e a aplicação de interfaces tangíveis.Nowadays Electronic Games have a great importance in the economic sector, in computing and in academic research, not limited only to entertainment applications. In the search for innovation in gameplay and in the interactive interfaces of electronic games, Augmented Reality is one of the new frontiers to be explored. This work presents the research, development and testing of an infrastructure, called Robot ARena, for the development of innovative games using the Spatial Augmented Reality and new interfaces that this technology allows. Based on horizontal interfaces with elements of hardware and software, Robot ARena has a flexible architecture that enables different ways of interaction and visualization. Another aspect planned for this project is the control and communication of robots, which can be used as avatars in games. The concepts involved, Electronic Games and Spatial Augmented Reality, are discussed, as well as the work that inspired some aspects of this infrastructure. A Robot ARena prototype was implemented, tested and used in the development of two games prototypes, FootBot ARena and TanSpace, which brings new challenges to the infrastructure, such as exploration of the influence of virtual objects in real objects and the application of tangible interfaces.
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Hudson, Robert Dearn. "Development of an integrated co-processor based power electronic drive / by Robert D. Hudson." Thesis, North-West University, 2008. http://hdl.handle.net/10394/3723.
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The McTronX research group at the North-West University is currently researching self-sensing techniques for Active Magnetic Bearings (AMB). The research is part of an ongoing effort to expand the knowledge base on AMBs in the School of Electrical, Electronic and Computer Engineering to support industries that make use of the technology. The aim of this project is to develop an integrated co-processor based power electronic drive with the emphasis placed on the ability of the co-processor to execute AMB self-sensing algorithms.
The two primary techniques for implementing self-sensing in AMBs are state estimation and modulation. This research focuses on hardware development to facilitate the implementation of the modulation method. Self-sensing algorithms require concurrent processing power and speed that are well suited to an architecture that combines a digital signal processor (DSP) and a field programmable gate array (FPGA). A comprehensive review of various power amplifier topologies shows that the pulse width modulation (PWM) switching amplifier is best suited for controlling the voltage and current required to drive the AMB coils. Combining DSPs and power electronics to form an integrated co-processor based power electronic drive requires detail attention to aspects of PCB design, including signal integrity and grounding.
A conceptual design is conducted and forms part of the process of compiling a subsystem development specification for the integrated drive, in conjunction with the McTronX Research Group. Component selection criteria, trade-off studies and various circuit simulations serve as the basis for this essential phase of the project. The conceptual design and development specification determines the architecture, functionality and interfaces of the integrated drive. Conceptual designs for the power amplifier, digital controller, electronic supply and mechanical layout of the integrated drive is provided.
A detail design is performed for the power amplifier, digital controller and electronic supply. Issues such as component selection, power supply requirements, thermal design, interfacing of the various circuit elements and PCB design are covered in detail. The output of the detail design is a complete set of circuit diagrams for the integrated controller.
The integrated drive is interfaced with existing AMB hardware and facilitates the successful implementation of two self-sensing techniques. The hardware performance of the integrated coprocessor based power electronic drive is evaluated by means of measurements taken from this experimental self-sensing setup. The co-processor performance is evaluated in terms of resource usage and execution time and performs satisfactorily in this regard.
The integrated co-processor based power electronic drive provided sufficient resources, processing speed and flexibility to accommodate a variety of self-sensing algorithms thus contributing to the research currently underway in the field of AMBs by the McTronX research group at the North-West University.Thesis (M.Ing. (Electrical Engineering))--North-West University, Potchefstroom Campus, 2009.
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Congedo, Pietro Marco. "Contributions to the reliability of numerical simulations in fluid mechanics. Application to the flow simulation of thermodynamically complex gases." Habilitation à diriger des recherches, Université Sciences et Technologies - Bordeaux I, 2013. http://tel.archives-ouvertes.fr/tel-00940088.
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At the interface of physics, mathematics, and computer science, Uncertainty Quanti cation (UQ) aims at developing a more rigorous framework and more reliable methods to characterize the impact of uncertainties on the prediction of Quantities Of Interest (QOI). Despite signi cant improvements done in the last years in UQ methods for Fluid Mechanics, there is nonetheless a long way to go before there can be talk of an accurate prediction when considering all the numerous sources of uncertainties of the physical problem (boundary conditions, physical models, geometric tolerances, etc), in particular for shock-dominated problems. This manuscript illustrates my main contributions for improving the reliability of the numerical simulation in Fluid Mechanics: i) the development of e cient and exible schemes for solving at low-cost stochastic partial di erential equations for compressible ows, ii) various works concerning variancebased and high-order analysis, iii) the design of some low-cost techniques for the optimization under uncertainty. The application of interest is the robust design of turbines for Organic Rankine Cycles (ORC). Some contributions to the numerical ow prediction of the thermodynamically complex gases involved in ORC will be presented. This manuscript is divided in two parts. In the rst part, some intrusive algorithms are introduced that feature an innovative formulation allowing the treatment of discontinuities propagating in the coupled physical/stochastic space for shock-dominated compressible ows. Then, variance and higher-order based decompositions are described, that could alleviate problems with large number of uncertainties by performing a dimension reduction with an improved control. Some ANOVAbased analyses are also applied to several ows displaying various types of modeling uncertainties, be it cavitation, thermodynamic or turbulence modeling. Two algorithms for handling stochastic inverse problems are then introduced for improving input uncertainty characterization by directly using experimental data. Finally, robust-optimization algorithms are introduced, that are e cient when dealing with a large number of uncertainties, relying on di erent formulations, i.e. with decoupled/ coupled approaches between the stochastic and the optimization solvers. The second part is devoted to the study of dense gas ow in ORC-cycles, which represent a highly demanding eld of application as far as ow simulation reliability is concerned. The numerical ingredients necessary for this kind of simulation are described. Then, some recent results are illustrated : i) high- delity turbine computations; ii) a feasibility study concerning the appearance and the occurrence of a Rarefaction Shock Wave, using experimental data and di erent operating conditions (in monophasic and two-phase ows); iii) a stochastic study concerning the thermodynamic model uncertainties. This set of research works has produced several papers in international journals and peer-reviewed conferences.
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Busatto-Gaston, Damien. "Symbolic controller synthesis for timed systems : robustness and optimality." Electronic Thesis or Diss., Aix-Marseille, 2019. http://www.theses.fr/2019AIXM0461.
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Le domaine de la synthèse réactive a pour objectif d'obtenir un système correct par construction à partir d'une spécification logique.Une approche classique consiste à se ramener à un jeu à somme nulle,où deux joueurs interagissent tour-à-tour dans un système de transitions, et à se demander si le joueur "contrôleur" peut garantir que son objectif sera rempli, et ce indépendamment des décisions du joueur "environnement".Nous étudions des spécifications temps-réel, modélisées par un automate temporisé équipé d'un objectif d'accessibilité ou de Büchi, et présentons des méthodes symboliques pour synthétiser des stratégies du contrôleur.Nos contributions concernent deux problématiques distinctes :on peut souhaiter que le contrôleur obtienne une stratégie robuste aux perturbations,ou bien le faire jouer de manière optimale dans un jeu pondéréThe field of reactive synthesis studies ways to obtain,starting from a specification, a system that is correctby construction.A classical approach models this setting as azero-sum game played by two players on a transition system,and asks whether player controller canensure an objective against any competing player environment.We focus on real-time specifications,modelled as timed automata with reachability or Büchi acceptance conditions,and present symbolic ways to synthesise strategies for the controller.We consider two problems, either restricting controller to robust strategiesor aiming for optimal strategies in a weighted game setting
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Sorensen, Gerrit Addison N. "A Flexible Infrastructure for Multi-Agent Systems." Diss., CLICK HERE for online access, 2005. http://contentdm.lib.byu.edu/ETD/image/etd875.pdf.
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Butts, IV Leverett Belton. "Heroes with a Hundred Names: Mythology and Folklore in Robert Penn Warren's Early Fiction." Digital Archive @ GSU, 2009. http://digitalarchive.gsu.edu/english_theses/71.
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This dissertation examines Robert Penn Warren‘s use of Arthurian legend, Judeo-Christian folklore, Norse mythology, and ancient vegetation rituals in his first four novels. It also illustrates how the use of these myths helps define Warren‘s Agrarian ideals while underscoring his subtle references to these ideals in his early fiction.
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de, Greeff Joachim. "Interactive concept acquisition for embodied artificial agents." Thesis, University of Plymouth, 2013. http://hdl.handle.net/10026.1/1587.
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An important capacity that is still lacking in intelligent systems such as robots, is the ability to use concepts in a human-like manner. Indeed, the use of concepts has been recognised as being fundamental to a wide range of cognitive skills, including classification, reasoning and memory. Intricately intertwined with language, concepts are at the core of human cognition; but despite a large body or research, their functioning is as of yet not well understood. Nevertheless it remains clear that if intelligent systems are to achieve a level of cognition comparable to humans, they will have to posses the ability to deal with the fundamental role that concepts play in cognition. A promising manner in which conceptual knowledge can be acquired by an intelligent system is through ongoing, incremental development. In this view, a system is situated in the world and gradually acquires skills and knowledge through interaction with its social and physical environment. Important in this regard is the notion that cognition is embodied. As such, both the physical body and the environment shape the manner in which cognition, including the learning and use of concepts, operates. Through active partaking in the interaction, an intelligent system might influence its learning experience as to be more effective. This work presents experiments which illustrate how these notions of interaction and embodiment can influence the learning process of artificial systems. It shows how an artificial agent can benefit from interactive learning. Rather than passively absorbing knowledge, the system actively partakes in its learning experience, yielding improved learning. Next, the influence of embodiment on perception is further explored in a case study concerning colour perception, which results in an alternative explanation for the question of why human colour experience is very similar amongst individuals despite physiological differences. Finally experiments, in which an artificial agent is embodied in a novel robot that is tailored for human-robot interaction, illustrate how active strategies are also beneficial in an HRI setting in which the robot learns from a human teacher.
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Anderson, Jonathan D. "Semi Autonomous Vehicle Intelligence: Real Time Target Tracking For Vision Guided Autonomous Vehicles." Diss., CLICK HERE for online access, 2007. http://contentdm.lib.byu.edu/ETD/image/etd1750.pdf.
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Cambier, Nicolas. "Bio-inspired collective exploration and cultural organisation." Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2511.
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Les systèmes autonomes sont récemment devenus une solution efficace pour des applications telles que l'exploration et la surveillance d'environnements. Dans ces situations, l'utilisation de plusieurs robots pourrait améliorer l'efficacité des solutions proposées, bien que cela nécessite des stratégies d'organisation qui soient à la fois robuste, flexible et adaptables à la taille de la flotte de robots. En robotique en essaim, ces qualités sont assurées par la décentralisation, la redondance (plusieurs/tous les robots effectuent la même tâche), des interactions locales et des règles simples. Les interactions et communications locales sont une composante clef de la robotique en essaim. Jusqu'ici, la communication n'a été utilisée que pour des tâches relativement simples, tels que signaler les préférences ou l'état d'un robot. Cependant, la communication peut être bien plus riche et similaire aux langages humains. Dans ces conditions, elle permettrait aux essaims de robots de gérer de nouvelles situations qui ne seraient pas prévues par leurs concepteurs. De riches communications sont donc nécessaires pour obtenir des essaims entièrement autonomes, en particulier dans des environnements inconnus. Dans cette thèse, nous proposons une approche pour faire émerger des communications riches dans des essaims de robots en utilisant les jeux de langages comme protocole de communication et l'agrégation probabiliste comme cas d'étude. L'agrégation probabiliste est un prérequis pour de nombreuses tâches en robotique en essaim mais elle est aussi extrêmement sensible aux conditions expérimentales. Elle requiert donc un réglage spécifique de ses paramètres pour chaque nouvelle condition, y compris les changements d'échelle ou de densité. Avec notre approche, nous avons observé que l'exécution simultanée du jeu de nommage et de l'agrégation mène, dans certaines conditions, à un nouveau comportement d'agglomération en plusieurs groupes, chacun avec son propre nom, qui est contrôlable via les paramètres de l'agrégation. En poussant ces interactions plus loin, nous démontrons que les dynamiques sociales du jeu de nommage peuvent sélectionner des paramètres d'agrégation efficaces. Cette sélection culturelle crée donc des contrôleurs résilients, qui évoluent en-ligne en fonction du contexte courantAutomatically-controlled artificial systems have recently been used in numerous settings including environmental monitoring and explorations, with great success. In such cases, the use of multiple robots could increase efficiency, although we should ensure that their communication and organisation strategies are robust, exible, and scalable. These qualities can be ensured through decentralisation, redundancy (many/all robots perform the same task), local interaction, and simplistic rules, as is the case in swarm robotics. One of the key components of swarm robotics is local interaction or communication. The later has, so far, only been used for relatively simple tasks such as signalling a robot's preference or state. However, communication has more potential because the emergence of meaning, as it exists in human language, could allow robots swarms to tackle novel situations in ways that may not be a priori obvious to the experimenter. This is a necessary feature for having swarms that are fully autonomous, especially in unknown environments. In this thesis, we propose a framework for the emergence of meaningful communications in swarm robotics using language games as a communication protocol and probabilistic aggregation as a case study. Probabilistic aggregation can be a prerequisite to many other swarm behaviours but, unfortunately, it is extremely sensitive to experimental conditions, and thus requires specific parameter tuning for any setting such as population size or density.With our framework, we show that the concurrent execution of the naming game and of probabilistic aggregation leads, in certain conditions, to a new clustering and labelling behaviour that is controllable via the parameters of the aggregation controller. Pushing this interplay forward, we demonstrate that the social dynamics of the naming game can select efficient aggregation parameters through environmental pressure. This creates resilient controllers as the aggregation behaviour is dynamically evolved online according to the current environmental setting
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Huang, Chia-Hsien, and 黃嘉賢. "Robust quantum gates for quantum computation." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/aa86nu.
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博士國立臺灣大學
物理學研究所
105
To realize practical quantum computation, a set of high-fidelity universal quantum gates robust against noise and uncertainty in the qubit system is prerequisite. Constructing control pulses to operate quantum gates which meet this requirement is an important and timely issue. In most robust control methods, noise is assumed to be quasi-static, i.e., is time-independent within the gate operation time but can vary between different gates. But this quasi-static-noise assumption is not always valid. Here we develop a systematic method to find pulses for quantum gate operations robust against both low- and high-frequency (comparable to the qubit transition frequency) stochastic time-varying noise. Our approach, taking into account the noise properties of quantum computing systems, can output single smooth pulses in the presence of multisources of noise. Furthermore, our method can be applied to different system models and noise models, and will make essential steps toward constructing high-fidelity and robust quantum gates for fault-tolerant quantum computation (FTQC). We also discuss and compare the gate operation performance by our method with that by the filter-transfer-function method. Then we apply our robust control method for a realistic system of electron spin qubits in semiconductor (silicon) quantum dots, a promising solid-state system compatible with existing manufacturing technologies for practical quantum computation. A two-qubit controlled-NOT (CNOT) gate, realized by a controlled-phase (C-phase) gate together with some single-qubit gates, has been experimentally implemented recently for quantum-dot electron spin qubits in isotopically purified silicon. But the infidelity of the two-qubit C-phase gate is, primarily due to the electrical control noise, still higher than the required error threshold for FTQC. Here we apply our robust control method to construct high-fidelity CNOT gates with single smooth control pulses robust against the electrical noise and the system parameter uncertainty. The experimental constraints on the maximum pulse strength due to the power limitation of the on-chip electron spin resonance (ESR) line and the filtering effects on the pulses due to the finite bandwidth of waveform generators are also accounted for. The robust and high-fidelity single-qubit gates, together with the two-qubit CNOT gates, can be performed within the same control framework in our scheme, paving the way for large-scale FTQC.
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YU-SHU, CHEN, and 陳堉樞. "Adopting Table Games to Robust the Social skills abilities of Autistic Children." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/5vvb8v.
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碩士聖約翰科技大學
電機工程系碩士班
107
This paper focuses on the weakness of learning ability as to Autistic Children problems. This work adopts the corresponding technologies of Table Games to Robust the Social skills abilities of Autisms in Elementary school. There are some special features in the proposed; 1 The Rail way type games are rather favors within Autistic Children in Elementary school; 2, The processes during Rail way type games can help children to Robust the Social skills abilities; 3, During repeat playing of the Cooperation Turns in the Rail way type games, some important Social skills abilities are imbedded in games to inspire the learning ability of Autistic Children. The proposed skills are really implemented in the Yilan Yu Chai Elementary School in Taiwan for Autistic Children. Numerous simulations have been made and the test results demonstrate the efficiency of the proposed skills in this paper.
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Gedikli, Suat [Verfasser]. "Continual and robust estimation of camera parameters in broadcasted sports games / Suat Gedikli." 2009. http://d-nb.info/994257724/34.
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Creoulo, Joana Oliveira. "Robot plays board games with human." Master's thesis, 2021. http://hdl.handle.net/10773/31515.
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Human-robot collaboration is a field with multiple applications, and this
varies in complexity from the medical field to entertainment. In the entertainment
field we can achieve human-robot collaboration by playing games,
which presents enough complexity for a first contact with the subject for
someone who is starting to dive into the subject. Example of that is the
project developed by IRIS: a robotic arm in collaboration with a human
solves a pentomino puzzle. That project inspired this thesis by trying to
achieve a wider application than just one collaborative game and apply it
to different hardware.
This thesis achieves human-robot cooperation by playing different board
games, allowing a collaborative yet competitive solution. To do so, I used
Kinova's Jaco assistive robotic arm and a Kinect camera sensor. I divided
the developed work in three major topics: manipulation, perception, and
gameplay. To manipulate the Kinova's Jaco arm, I used its ROS package
in the ROS framework. With the Kinect sensor and with the use of PCL
and OpenCV libraries, I was able to locate the pieces and board used for
each game, allowing the robot to manipulate without help from the human.
For the gameplay I explored AI algorithms and implemented them to allow
the robot to plan its own moves. Using the ROS framework allowed me to
connect the three different parts of this project.Colaboração humano-robô é um campo com múltiplas aplicações, e varia em complexidade desde a medicina ao entretimento. No entretimento, podemos obter colaboração entre humano e robô através de jogos, o que para um primeiro contacto com o tema apresenta um nível de complexidade adequado para alguém que está a começar a explorar a temática. Um exemplo disso é o projeto desenvolvido pelo IRIS: um braço robótico que em colaboração com um humano resolve um puzzle pantomino. Este projeto inspirou esta tese na medida em que se podia alcançar uma maior aplicação do que apenas um puzzle colaborativo e aplicar a hardware diferente. Esta tese implementa a cooperação entre humano-robô usando diferentes jogos de tabuleiro, permitindo uma solução colaborativa e ainda assim competitiva. Para atingir o objetivo, usei o braço robótico Jaco da Kinova e o sensor Kinect. Dividi o trabalho desenvolvido em três tópicos principais: manipulação, perceção e o jogo. Para manipular o braço robótico Jaco da Kinova, usei o package desenvolvido pela Kinova para ROS. Com a Kinect e as bibliotecas de PCL e OpenCV, consegui localizar as peças e tabuleiros usados em cada jogo, permitindo assim ao robô manipular as peças sem intervenção do humano. Para o jogo explorei algoritmos de inteligência artificial e implementei-os para permitir que o robô planeasse as suas próprias jogadas. A framework do ROS permitiu-me conectar as diferentes partes do projeto de forma a obter uma experiência de jogo entre humano e robô.
Mestrado em Engenharia Eletrónica e Telecomunicações
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Alghamdi, Norah K. "Modeling Human Learning in Games." Thesis, 2020. http://hdl.handle.net/10754/666444.
Full textAbstract:
Human-robot interaction is an important and broad area of study. To achieve success- ful interaction, we have to study human decision making rules. This work investigates human learning rules in games with the presence of intelligent decision makers. Par- ticularly, we analyze human behavior in a congestion game. The game models traffic in a simple scenario where multiple vehicles share two roads. Ten vehicles are con- trolled by the human player, where they decide on how to distribute their vehicles on the two roads. There are hundred simulated players each controlling one vehicle. The game is repeated for many rounds, allowing the players to adapt and formulate a strategy, and after each round, the cost of the roads and visual assistance is shown to the human player. The goal of all players is to minimize the total congestion experienced by the vehicles they control.
In order to demonstrate our results, we first built a human player simulator using Fictitious play and Regret Matching algorithms. Then, we showed the passivity property of these algorithms after adjusting the passivity condition to suit discrete time formulation. Next, we conducted the experiment online to allow players to participate. A similar analysis was done on the data collected, to study the passivity of the human decision making rule. We observe different performances with different types of virtual players. However, in all cases, the human decision rule satisfied the passivity condition. This result implies that human behavior can be modeled as passive, and systems can be designed to use these results to influence human behavior and reach desirable outcomes.
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Tom, David. "Investigating UCT and RAVE steps towards a more robust method /." Master's thesis, 2010. http://hdl.handle.net/10048/1087.
Full textAbstract:
Thesis (M.Sc.)--University of Alberta, 2010.Title from PDF file main screen (viewed on July 29, 2010). A thesis submitted to the Faculty of Graduate Studies and Research in partial fulfillment of the requirements for the degree of Master of Science, Department of Computing Science, University of Alberta. Includes bibliographical references.
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Stiller, Sebastian [Verfasser]. "Extending concepts of reliability : network creation games, real-time scheduling, and robust optimization / vorgelegt von Sebastian Stiller." 2008. http://d-nb.info/993266584/34.
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Chen, Tse-Yu, and 陳澤宇. "Reinforcement Learning in Zero-Sum Games for Robot Soccer Systems." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/29615769696503275189.
Full textAbstract:
碩士國立中正大學
電機工程研究所
91
The objective of this thesis is to develop a strategy system in a robot soccer system with cooperative ability which is improved by self-learning. A reinforcement learning method according to the zero-sum game theory is developed in this thesis. It enforces the learning systems to choose appropriate strategy on the opponent’s actions. In order to achieve the purpose of cooperation, two sub systems have been used, one is a role assignment system and the other one is a reinforcement learning system. In the role assignment system, four roles are assigned. They are Attacker, Helper, Defender, and Goalkeeper. Each role has its own behaviors and tasks different from other roles’. Helper and Defender use the reinforcement learning system to improve their policy selections on the game field. Furthermore, the physical and mechanical conditions of robots are all the same. Robots need not play the same kind of role. They can change to any kind of roles dynamically according to the state situation on the game field. In the reinforcement learning system, we have further two sub learning systems. Each learning system learns their tasks. One learns to figure up how Helper helps its teammates, to form an attack or a defense type. Meanwhile, the other learns to stand a proper defensive strategy. Two sub systems work in the same time, such that they can cooperate with each other. They can learn to improve their performance from game experience.
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Li, Je-Ting, and 黎哲廷. "Application of the Nine-Balls Pool Games for a Billiard Robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/18709219760965927631.
Full textAbstract:
碩士淡江大學
機械與機電工程學系碩士班
93
The objective of this thesis is to develop an offensive strategy of the nine ball game to score ball from number 1 to 9 sequentially for the billiard robot. The strength of shot is determined where the cue ball will stop in its trajectory to be in a good position for the next shot by the controller. The image pattern recognition technique is applied to identify the cue ball and each numbers of the object balls on the table. Then, the positions of the balls will be determined automatically by the machine vision subsystem and the developed software(VB). After that, the extension theory is applied to develop the offensive strategy of the nine ball game in order to win the game successfully. There are five parameters which are needed to be considered together for the offensive strategy. They are (1)distances between the cue ball and each object balls, (2)distances between object balls and the corresponding pockets,(3)block balls between the cue ball and object balls, (4)the angles between the cue ball, object balls and the corresponding pockets, (5)the predicted positions of the cue ball and object balls after collision. Then the offensive strategy is developed based on the above five parameters by the Extension theory. Finally, the billiard robot will execute the hitting command(hitting position and strength of shot) to pocket the object balls into corresponding pockets one by one in order to win the billiard game. The experimental results shows that the billiard robot is able to “read” the balls on the table correctly and pockets the object balls from the lowest number to the highest number one by one successfully.
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Lin, Dong-Yuan, and 林董原. "Anti-robot Agent Mechanisms on Online Games ─ A Game Level Approach." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/14878840236004100439.
Full textAbstract:
碩士國立臺灣科技大學
資訊管理系
96
MMORPG is the most popular kind of online game. The market value for MMORPGs in the World hit 5.4 billion dollars in 2007. The number of MMORPGs’ players exceeds 16 million over the world on 2007. In recent years, BOT is the one of the most important prob-lem in the filed of MMORPGs. BOTs are deeply breaking the fairness of the virtual world and affecting the benefit of the game operators. Although much active research on detecting cheaters in online games is currently in progress, there is not an effective and scalable solu-tion that supports thousands of players. We propose an anti-robot agent solution which is composed of multiple mechanisms and combined with game design to detect BOT players automatically. Our proposed mechanism adopts data mining techniques to analyze player behavior in game level, and extended CAPTCHA techniques to identify players’ presence of the game. Further, we experiment the solution on a real game to explore the effectiveness of our detection mechanisms. Our generated behavior feature quantification function is suitable for most MMORPGs, and our detection mechanisms are scalable for new types of BOT.
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TE-CHIH, WANG, and 王德智. "High Dynamic Range Image Processing Based Visual System for Robot Soccer Games." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/47125296957740902132.
Full textAbstract:
碩士南台科技大學
電機工程系
101
This thesis proposes a visual system which is based on high dynamic range (HDR) image processing scheme for robot soccer games. The system platform consists of the image processing system, the planning and decision making systems, and the motion control system. In which, the image processing system included high dynamic range image processing and image weighting correction algorithms to analyze the global field images firstly. Then it performs color space transformation and local correction for optimization of image processing. Besides, the planning and decision making system determines path planning, obstacle avoidance, real-time control and decision making based on the resultant image information. Finally, the motion control system will accomplish ball tracking, kicking, and defense motions to play robot soccer games. The experimental results show in real 3 vs. 3 robot soccer games reveal and demonstrate the feasibility of the proposed system.