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Автор: Grafiati

Опубліковано: 11 вересня 2023

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1

Jia, Hong Li, Qiang Liu, and Feng Du. "Intelligent Control of a Cart and Pole System." Applied Mechanics and Materials 397-400 (September 2013): 1438–41. http://dx.doi.org/10.4028/www.scientific.net/amm.397-400.1438.

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Анотація:

The paper focuses on the cart-pole system by using fuzzy control, fuzzy mamdan control theory, the fuzzy controller perturbation amplitude simulation and fine-tuning of different linear and nonlinear model. It applicates MATLAB soft which function is so powerful, suitable for a wide range of engineering software system for vehicle simulation intelligent control. And then adjusting fuzzy controller on PID control system, fuzzy control system, the cart-pole system can provide reliable data for our real life and production in the future.

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2

Wang, Yifan. "PD-Based Control of Cart-Pole System on Inclined Plane with Variable Slope." Journal of Physics: Conference Series 2216, no. 1 (March 1, 2022): 012064. http://dx.doi.org/10.1088/1742-6596/2216/1/012064.

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Анотація:

Abstract For control research, the cart-pole system is one of the basic models. Various controllers for controlling under-actuated systems in unstable postures are available, according to the literature. In this paper, an off-line management of a variable slope cart-pole system is proposed. The system moves on a circular arc surface with a certain radius. The dynamic pattern of the cart-pole system is obtained by Euler-Lagrangian formulation, and the controllability analysis is considered. Initially, a Python model of the proposed system was created, which was then simulated with a PD controller. Based on the required joint angle, we can calculate the required control parameter distribution. By studying the differences in the stability time and steady-state error of the system under different parameters, the efficacy of the suggested method is proved, and the possibility of further parameter optimization is proposed. For the future study, the simulation of a more irregular trajectory would be inspired by this model and control of the cart-pole system on a non-linear trajectory.

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3

Dadios, Elmer P., Patrick S. Fernandez, and David J. Williams. "Genetic Algorithm On Line Controller for the Flexible Inverted Pendulum Problem." Journal of Advanced Computational Intelligence and Intelligent Informatics 10, no. 2 (March 20, 2006): 155–60. http://dx.doi.org/10.20965/jaciii.2006.p0155.

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Анотація:

This paper presents a real time controller for a highly non-linear system. The Flexible Pole-Cart Balancing Problem (FPCBP) is used as the test case to investigate the learning capability of Genetic Algorithm (GA) in physical application. The controller developed is initially trained using a set of data taken from on line dynamics of the flexible pole cart balancing system. Based from the physical data of the system, the weights W1 to W6 are optimized by the genetic algorithm in order to determine the correct value of the force applied to the cart. The trained GA-based controller then controls the physical Flexible Pole-Cart Balancing system for infinite time. Analysis on the behavior of the GA model developed is presented. Results of the physical experiments show that the controller developed is accurate, adaptive and robust.

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4

Aguilar-Ibáñez, Carlos, Julio Mendoza-Mendoza, and Jorge Dávila. "Stabilization of the cart pole system: by sliding mode control." Nonlinear Dynamics 78, no. 4 (August 29, 2014): 2769–77. http://dx.doi.org/10.1007/s11071-014-1624-6.

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5

Assefa, Alemie. "Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart." Journal of Informatics Electrical and Electronics Engineering (JIEEE) 3, no. 2 (2022): 1–11. http://dx.doi.org/10.54060/jieee/003.02.002.

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Анотація:

The inverted pendulum is an under actuated system and unstable system without a controller. In this paper modelling of an inverted pendulum is done using the Euler-Lagrange equation for stabilization of it. The controller gain is evaluated through state feedback and reduced-order observer design techniques and the result for the different initial conditions is compared. The state feedback controller is designed by Pole- placement technique for different desired pole locations. The simulation of the inverted pendulum based on reduced order pole placement design has been done on MATLAB/SIMULINK. It has been observed from the simulation result that the angular velocity and cart speed tracks the system response for different initial conditions by varying the desired pole location for the left-hand plane of the s-plane. In general, if some of the systems are unknown and the other state is known we can design using a re-duced-order observer for any physical system.

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6

MATSUURA, Katsumasa, and Mitsuharu NAGAMORI. "An Improvement of Uprising Method of Pole in the Fuzzy Control of Cart-Pole System." Journal of Japan Society for Fuzzy Theory and Systems 8, no. 4 (1996): 749–56. http://dx.doi.org/10.3156/jfuzzy.8.4_157.

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7

Fauziyah, Mila, Zakiyah Amalia, Indrazno Siradjuddin, Denda Dewatama, Rendi Pambudi Wicaksono, and Erni Yudaningtyas. "Linear quadratic regulator and pole placement for stabilizing a cart inverted pendulum system." Bulletin of Electrical Engineering and Informatics 9, no. 3 (June 1, 2020): 914–23. http://dx.doi.org/10.11591/eei.v9i3.2017.

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Анотація:

The system of a cart inverted pendulum has many problems such as nonlinearity, complexity, unstable, and underactuated system. It makes this system be a benchmark for testing many control algorithm. This paper presents a comparison between 2 conventional control methods consist of a linear quadratic regulator (LQR) and pole placement. The comparison indicated by the most optimal steps and results in the system performance that obtained from each method for stabilizing a cart inverted pendulum system. A mathematical model of DC motor and mechanical transmission are included in a mathematical model to minimize the realtime implementation problem. From the simulation, the obtained system performance shows that each method has its advantages, and the desired pendulum angle and cart position reached.

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8

Nguyen, Hai Van Dong, Tam Minh Nguyen, and Mircea Ivanescu. "A method of sliding mode control of cart and pole system." Science and Technology Development Journal 18, no. 3 (August 30, 2015): 167–73. http://dx.doi.org/10.32508/stdj.v18i3.898.

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Анотація:

This paper presents a method of using Sliding Mode Control (SMC) for Cart and Pole system. The stability of controller is proved through using Lyapunov function and simulations. A genetic algorithm (GA) program is used to optimize controlling parameters. The GA-based parameters prove good-quality of control through Matlab/Simulink Simulation.

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9

Liu, Yang, Hongnian Yu, Sam Wane, and Taicheng Yang. "On tracking control of a pendulum-driven cart-pole underactuated system." International Journal of Modelling, Identification and Control 4, no. 4 (2008): 357. http://dx.doi.org/10.1504/ijmic.2008.021476.

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10

Li, Tzuu-Hseng S., and Ming-Yuan Shieh. "Switching-type fuzzy sliding mode control of a cart–pole system." Mechatronics 10, no. 1-2 (February 2000): 91–109. http://dx.doi.org/10.1016/s0957-4158(99)00053-7.

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11

Kar, Indrani, Prem Kumar Patchaikani, and Laxmidhar Behera. "On balancing a cart-pole system using T–S fuzzy model." Fuzzy Sets and Systems 207 (November 2012): 94–110. http://dx.doi.org/10.1016/j.fss.2012.03.013.

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12

Boriero, Fabrizio, Nicola Sansonetto, Antonio Marigonda, Riccardo Muradore, and Paolo Fiorini. "Optimal Solution of Kinodynamic Motion Planning for the Cart-Pole System." IFAC-PapersOnLine 50, no. 1 (July 2017): 6308–13. http://dx.doi.org/10.1016/j.ifacol.2017.08.895.

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13

Bessa, Wallace M., and Edwin Kreuzer. "Adaptive fuzzy sliding mode control of the cart-pole underactuated system." PAMM 16, no. 1 (October 2016): 799–800. http://dx.doi.org/10.1002/pamm.201610388.

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14

Messikh, Lotfi, El-Hadi Guechi, and Sašo Blažič. "Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers." Sensors 22, no. 1 (December 29, 2021): 243. http://dx.doi.org/10.3390/s22010243.

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Анотація:

In this paper, a pole-independent, single-input, multi-output explicit linear MPC controller is proposed to stabilize the fourth-order cart–inverted-pendulum system around the desired equilibrium points. To circumvent an obvious stability problem, a generalized prediction model is proposed that yields an MPC controller with four tuning parameters. The first two parameters, namely the horizon time and the relative cart–pendulum weight factor, are automatically adjusted to ensure a priori prescribed system gain margin and fast pendulum response while the remaining two parameters, namely the pendulum and cart velocity weight factors, are maintained as free tuning parameters. The comparison of the proposed method with some optimal control methods in the absence of disturbance input shows an obvious advantage in the average peak efficiency in favor of the proposed SIMO MPC controller at the price of slightly reduced speed efficiency. Additionally, none of the compared controllers can achieve a system gain margin greater than 1.63, while the proposed one can go beyond that limit at the price of additional degradation in the speed efficiency.

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15

Yu, H., Y. Liu, and T. Yang. "Closed-loop tracking control of a pendulum-driven cart-pole underactuated system." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 222, no. 2 (March 2008): 109–25. http://dx.doi.org/10.1243/09596518jsce460.

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16

Hadipour Lakmesari, S., Z. Safipour, M. J. Mahmoodabadi, Yousef Ibrahim, and Saleh Mobayen. "Optimal Fuzzy Proportional-Integral-Derivative Control for a Class of Fourth-Order Nonlinear Systems using Imperialist Competitive Algorithms." Complexity 2022 (October 17, 2022): 1–13. http://dx.doi.org/10.1155/2022/3554897.

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Анотація:

The proportional integral derivative (PID) controller has gained wide acceptance and use as the most useful control approach in the industry. However, the PID controller lacks robustness to uncertainties and stability under disturbances. To address this problem, this paper proposes an optimal fuzzy-PID technique for a two-degree-of-freedom cart-pole system. Fuzzy rules can be combined with controllers such as PID to tune their coefficients and allow the controller to deliver substantially improved performance. To achieve this, the fuzzy logic method is applied in conjunction with the PID approach to provide essential control inputs and improve the control algorithm efficiency. The achieved control gains are then optimized via the imperialist competitive algorithm. Consequently, the objective function for the cart-pole system is regarded as the summation of the displacement error of the cart, the angular error of the pole, and the control force. This control concept has been tested via simulation and experimental validations. Obtained results are presented to confirm the accuracy and efficiency of the suggested method.

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17

Manrique Escobar, Camilo Andrés, Carmine Maria Pappalardo, and Domenico Guida. "A Parametric Study of a Deep Reinforcement Learning Control System Applied to the Swing-Up Problem of the Cart-Pole." Applied Sciences 10, no. 24 (December 17, 2020): 9013. http://dx.doi.org/10.3390/app10249013.

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Анотація:

In this investigation, the nonlinear swing-up problem associated with the cart-pole system modeled as a multibody dynamical system is solved by developing a deep Reinforcement Learning (RL) controller. Furthermore, the sensitivity analysis of the deep RL controller applied to the cart-pole swing-up problem is carried out. To this end, the influence of modifying the physical properties of the system and the presence of dry friction forces are analyzed employing the cumulative reward during the task. Extreme limits for the modifications of the parameters are determined to prove that the neural network architecture employed in this work features enough learning capability to handle the task under modifications as high as 90% on the pendulum mass, as well as a 100% increment on the cart mass. As expected, the presence of dry friction greatly affects the performance of the controller. However, a post-training of the agent in the modified environment takes only thirty-nine episodes to find the optimal control policy, resulting in a promising path for further developments of robust controllers.

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18

Siradjuddin, Indrazno, Zakiyah Amalia, Erfan Rohadi, Budhy Setiawan, Awan Setiawan, Ratna Ika Putri, and Erni Yudaningtyas. "State-feedback control with a full-state estimator for a cart-inverted pendulum system." International Journal of Engineering & Technology 7, no. 4.44 (December 1, 2018): 203. http://dx.doi.org/10.14419/ijet.v7i4.44.26985.

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Анотація:

A Cart Inverted Pendulum System is an unstable, nonlinear and underactuated system. This makes a cart inverted pendulum system used as a benchmark for testing many control method. A cart must occupy the desired position and the angle of the pendulum must be in an equilibrium point. System modeling of a cart inverted pendulum is important for controlling this system, but modeling using assumptions from state-feedback control is not completely valid. To minimize unmeasured state variables, state estimators need to be designed. In this paper, the state estimator is designed to complete the state-feedback control to control the cart inverted pendulum system. The mathematical model of the cart inverted pendulum system is obtained by using the Lagrange equation which is then changed in the state space form. Mathematical models of motors and mechanical transmissions are also included in the cart inverted pendulum system modeling so that it can reduce errors in a real-time application. The state gain control parameter is obtained by selecting the weighting matrix in the Linear Quadratic Regulator (LQR) method, then added with the Leuenberger observer gain that obtained by the pole placement method on the state estimator. Simulation is done to determine the system performance. The simulation results show that the proposed method can stabilize the cart inverted pendulum system on the cart position and the desired pendulum angle.

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19

Singla, Ashish, and Gurminder Singh. "Real-Time Swing-up and Stabilization Control of a Cart-Pendulum System with Constrained Cart Movement." International Journal of Nonlinear Sciences and Numerical Simulation 18, no. 6 (October 26, 2017): 525–39. http://dx.doi.org/10.1515/ijnsns-2017-0040.

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Анотація:

AbstractThe cart-pendulum system is a typical benchmark problem in the control field. It is a fully underactuated system having one control input for two degrees-of-freedom (DOFs) system. It has highly nonlinear structure, which can be used to validate different nonlinear and linear controllers and has wide range of real-time (realistic) applications like rockets propeller, tank missile launcher, self-balancing robot, stabilization of ships, design of earthquake resistant buildings, etc. In this work, modeling, simulation and real-time control of a cart-pendulum system is performed. The mathematical model of the system is developed using Euler-Lagrange approach. In order to achieve a more realistic model, the actuator dynamics is considered in the mathematical model. The main aim of this work is to investigate the performance of two different control strategies- first to swing-up the pendulum to near unstable equilibrium region and second to stabilize the pendulum at unstable equilibrium point. The swing-up problem is addressed by using energy controller in which cart is accelerated by providing a force to the cart with a AC servo motor with the help of timing pulley arrangement. The initial velocity of the cart is taken into account to confirm swing-up in the restricted track length. The cart displacement in the restricted track length is verified by simulation and experimental test-run. The regulation problem of stabilization of pendulum is addressed by developing the controller using Pole Placement Controller (PPC) and LQR Controller (LQRC). Both the control strategies are performed analytically and experimentally using the Googoltech Linear Inverted Pendulum (GLIP) setup. The analytical results, simulated in MATLAB and SIMULINK environment, are found in close agreement with the experimental results. In order to demonstrate the effect of both the stabilizing controllers on the performance of the system, comparison of the experimental results is reported in this work. It is demonstrated experimentally that LQR controller outperforms the Pole Placement controller, in terms of reduction in the oscillations of the inverted pendulum (56 %), as well as the magnitude of maximum control input (66.7 %). Further, robustness of the closed-loop system is investigated by providing external disturbances.

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20

Rizal, Yusie, Muhammad Wahyu, Imansyah Noor, Joni Riadi, Feriyadi Feriyadi, and Ronny Mantala. "Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System." Jurnal Ilmiah Teknik Elektro Komputer dan Informatika 7, no. 1 (May 3, 2021): 161. http://dx.doi.org/10.26555/jiteki.v7i1.20420.

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21

Yih, Chih-Chen. "Sliding Mode Control for Swing-Up and Stabilization of the Cart-Pole Underactuated System." Asian Journal of Control 15, no. 4 (July 27, 2012): 1201–14. http://dx.doi.org/10.1002/asjc.577.

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22

FUJIWARA, Atsushi, and Makoto KATOH. "312 A Study of Element Divided Model And Parameter Identification for A Cart-Pole System." Proceedings of Conference of Kansai Branch 2006.81 (2006): _3–16_. http://dx.doi.org/10.1299/jsmekansai.2006.81._3-16_.

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23

Ovalle, Luis, Héctor Ríos, and Miguel Llama. "Robust output-feedback control for the cart–pole system: a coupled super-twisting sliding-mode approach." IET Control Theory & Applications 13, no. 2 (January 29, 2019): 269–78. http://dx.doi.org/10.1049/iet-cta.2018.5249.

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24

Zhang, Tao. "The Dynamic and Observed Pendulum Control System Based on Optimum Control." Advanced Materials Research 339 (September 2011): 48–52. http://dx.doi.org/10.4028/www.scientific.net/amr.339.48.

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Анотація:

In view of the nonlinear characteristic of the pendulum system, the paper applies the LQR algorithm to control the cart position and the pendulum pole angle simultaneously. In order to show the control effect lively, the paper proposes the realization plan which constructing the dynamic and observed pendulum control system by configuration software. The results of simulation computation and configuration design demonstrate that the plan can proves the application value of the LQR algorithm in the pendulum control system and achieves fine teaching effect in the actual teaching process.

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25

MANOONPONG, PORAMATE, CHRISTOPH KOLODZIEJSKI, FLORENTIN WÖRGÖTTER, and JUN MORIMOTO. "COMBINING CORRELATION-BASED AND REWARD-BASED LEARNING IN NEURAL CONTROL FOR POLICY IMPROVEMENT." Advances in Complex Systems 16, no. 02n03 (May 2013): 1350015. http://dx.doi.org/10.1142/s021952591350015x.

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Classical conditioning (conventionally modeled as correlation-based learning) and operant conditioning (conventionally modeled as reinforcement learning or reward-based learning) have been found in biological systems. Evidence shows that these two mechanisms strongly involve learning about associations. Based on these biological findings, we propose a new learning model to achieve successful control policies for artificial systems. This model combines correlation-based learning using input correlation learning (ICO learning) and reward-based learning using continuous actor–critic reinforcement learning (RL), thereby working as a dual learner system. The model performance is evaluated by simulations of a cart-pole system as a dynamic motion control problem and a mobile robot system as a goal-directed behavior control problem. Results show that the model can strongly improve pole balancing control policy, i.e., it allows the controller to learn stabilizing the pole in the largest domain of initial conditions compared to the results obtained when using a single learning mechanism. This model can also find a successful control policy for goal-directed behavior, i.e., the robot can effectively learn to approach a given goal compared to its individual components. Thus, the study pursued here sharpens our understanding of how two different learning mechanisms can be combined and complement each other for solving complex tasks.

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26

Qian, Dianwei, Jianqiang Yi, and Dongbin Zhao. "How to Automatically Set an Initial Angle for Balance Control of a Cart-Pole System: An Education Case." International Journal of Electrical Engineering & Education 50, no. 1 (January 2013): 57–68. http://dx.doi.org/10.7227/ijeee.50.1.5.

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27

Huang, Mei-Ling, and Cheng-Jian Lin. "Nonlinear system control using a fuzzy cerebellar model articulation controller involving reinforcement-strategy-based bacterial foraging optimization." Advances in Mechanical Engineering 10, no. 9 (September 2018): 168781401879742. http://dx.doi.org/10.1177/1687814018797426.

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Анотація:

This article proposes a fuzzy cerebellar model articulation controller with reinforcement-strategy-based modified bacterial foraging optimization for solving the cart-pole balancing control problem. The proposed reinforcement-strategy-based modified bacterial foraging optimization is used to adjust the parameters of fuzzy receptive field functions and fuzzy weights for improving the accuracy of the fuzzy cerebellar model articulation controller output. An efficient strategic approach is applied in the chemotaxis step in the traditional bacterial foraging optimization algorithm. In the approach, each virtual bacterium swims for different run lengths and increases the bacterial diversity. Experimental results are presented to show the performance and effectiveness of the proposed reinforcement-strategy-based modified bacterial foraging optimization method.

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28

Rosalinda, Hanny Megawati, Trihastuti Agustinah, and Khairurizal Alfathdyanto. "T-S Fuzzy Tracking Control Based on H∞ Performance with Output Feedback for Pendulum-Cart System." Indonesian Journal of Computer Science 12, no. 2 (May 3, 2023): 563–77. http://dx.doi.org/10.33022/ijcs.v12i2.3196.

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Анотація:

In some practices, not all state variables are available because of limited or noisy measurements. Thus, via output feedback, an observer is used to estimate the unmeasured states. To apply linear controllers to the pendulum-cart system, the Takagi-Sugeno fuzzy model is utilized by linearizing the system in more than one operating point. The effect of disturbances on tracking performance is reduced to the prescribed attenuation level by H∞ performance. The stability of the whole closed-loop system is investigated using the Lyapunov function. Sufficient conditions are derived in terms of a set of Linear Matrix Inequality (LMI) to obtain the controller and observer gain. Simulation results show that the proposed control method can make the system track the sinusoidal reference signal, maintain stability, and attenuate the effect of disturbances to less than the prescribed attenuation level measured by L2 gain. In the implementation process, an adjustment is needed to move the observer’s pole and speed up the observer’s responses.

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29

JIANG, JU, MOHAMED S. KAMEL, and LEI CHEN. "AGGREGATION OF MULTIPLE REINFORCEMENT LEARNING ALGORITHMS." International Journal on Artificial Intelligence Tools 15, no. 05 (October 2006): 855–61. http://dx.doi.org/10.1142/s0218213006002990.

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Анотація:

Reinforcement learning (RL) has been successfully used in many fields. With the increasing complexity of environments and tasks, it is difficult for a single learning algorithm to cope with complicated problems with high performance. This paper proposes a new multiple learning architecture, "Aggregated Multiple Reinforcement Learning System (AMRLS)", which aggregates different RL algorithms in each learning step to make more appropriate sequential decisions than those made by individual learning algorithms. This architecture was tested on a Cart-Pole system. The presented simulation results confirm our prediction and reveal that aggregation not only provides robustness and fault tolerance ability, but also produces more smooth learning curves and needs fewer learning steps than individual learning algorithms.

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30

Tao, C. W., J. S. Taur, Tzuen Wuu Hsieh, and C. L. Tsai. "Design of a Fuzzy Controller With Fuzzy Swing-Up and Parallel Distributed Pole Assignment Schemes for an Inverted Pendulum and Cart System." IEEE Transactions on Control Systems Technology 16, no. 6 (November 2008): 1277–88. http://dx.doi.org/10.1109/tcst.2008.921803.

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31

Boult, Terrance E., Nicolas M. Windesheim, Steven Zhou, Christopher Pereyda, and Lawrence B. Holder. "Weibull-Open-World (WOW) Multi-Type Novelty Detection in CartPole3D." Algorithms 15, no. 10 (October 18, 2022): 381. http://dx.doi.org/10.3390/a15100381.

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Анотація:

Algorithms for automated novelty detection and management are of growing interest but must address the inherent uncertainty from variations in non-novel environments while detecting the changes from the novelty. This paper expands on a recent unified framework to develop an operational theory for novelty that includes multiple (sub)types of novelty. As an example, this paper explores the problem of multi-type novelty detection in a 3D version of CartPole, wherein the cart Weibull-Open-World control-agent (WOW-agent) is confronted by different sub-types/levels of novelty from multiple independent agents moving in the environment. The WOW-agent must balance the pole and detect and characterize the novelties while adapting to maintain that balance. The approach develops static, dynamic, and prediction-error measures of dissimilarity to address different signals/sources of novelty. The WOW-agent uses the Extreme Value Theory, applied per dimension of the dissimilarity measures, to detect outliers and combines different dimensions to characterize the novelty. In blind/sequestered testing, the system detects nearly 100% of the non-nuisance novelties, detects many nuisance novelties, and shows it is better than novelty detection using a Gaussian-based approach. We also show the WOW-agent’s lookahead collision avoiding control is significantly better than a baseline Deep-Q-learning Networktrained controller.

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32

Xu, X., H. He, and D. Hu. "Efficient Reinforcement Learning Using Recursive Least-Squares Methods." Journal of Artificial Intelligence Research 16 (April 1, 2002): 259–92. http://dx.doi.org/10.1613/jair.946.

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The recursive least-squares (RLS) algorithm is one of the most well-known algorithms used in adaptive filtering, system identification and adaptive control. Its popularity is mainly due to its fast convergence speed, which is considered to be optimal in practice. In this paper, RLS methods are used to solve reinforcement learning problems, where two new reinforcement learning algorithms using linear value function approximators are proposed and analyzed. The two algorithms are called RLS-TD(lambda) and Fast-AHC (Fast Adaptive Heuristic Critic), respectively. RLS-TD(lambda) can be viewed as the extension of RLS-TD(0) from lambda=0 to general lambda within interval [0,1], so it is a multi-step temporal-difference (TD) learning algorithm using RLS methods. The convergence with probability one and the limit of convergence of RLS-TD(lambda) are proved for ergodic Markov chains. Compared to the existing LS-TD(lambda) algorithm, RLS-TD(lambda) has advantages in computation and is more suitable for online learning. The effectiveness of RLS-TD(lambda) is analyzed and verified by learning prediction experiments of Markov chains with a wide range of parameter settings. The Fast-AHC algorithm is derived by applying the proposed RLS-TD(lambda) algorithm in the critic network of the adaptive heuristic critic method. Unlike conventional AHC algorithm, Fast-AHC makes use of RLS methods to improve the learning-prediction efficiency in the critic. Learning control experiments of the cart-pole balancing and the acrobot swing-up problems are conducted to compare the data efficiency of Fast-AHC with conventional AHC. From the experimental results, it is shown that the data efficiency of learning control can also be improved by using RLS methods in the learning-prediction process of the critic. The performance of Fast-AHC is also compared with that of the AHC method using LS-TD(lambda). Furthermore, it is demonstrated in the experiments that different initial values of the variance matrix in RLS-TD(lambda) are required to get better performance not only in learning prediction but also in learning control. The experimental results are analyzed based on the existing theoretical work on the transient phase of forgetting factor RLS methods.

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Bonfè, Marcello, Paolo Castaldi, Nicola Mimmo, and Silvio Simani. "Active fault tolerant control of nonlinear systems: The cart-pole example." International Journal of Applied Mathematics and Computer Science 21, no. 3 (September 1, 2011): 441–45. http://dx.doi.org/10.2478/v10006-011-0033-y.

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Active fault tolerant control of nonlinear systems: The cart-pole exampleThis paper describes the design of fault diagnosis and active fault tolerant control schemes that can be developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach, which allows obtaining the disturbance de-coupling property. The controller reconfiguration exploits directly the on-line estimate of the fault signal. The classical model of an inverted pendulum on a cart is considered as an application example, in order to highlight the complete design procedure, including the mathematical aspects of the nonlinear disturbance de-coupling method based on the nonlinear differential geometry, as well as the feasibility and efficiency of the proposed approach. Extensive simulations of the benchmark process and Monte Carlo analysis are practical tools for assessing experimentally the robustness and stability properties of the developed fault tolerant control scheme, in the presence of modelling and measurement errors. The fault tolerant control method is also compared with a different approach relying on sliding mode control, in order to evaluate benefits and drawbacks of both techniques. This comparison highlights that the proposed design methodology can constitute a reliable and robust approach for application to real nonlinear processes.

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Cerqueira, Thaís Bandeira, Natalia Bacellar Costa Lima, Romeu Magno Baptista Neto, José Cohim Moreira Filho, and Luiz Eduardo Café. "Treatment of Fraley’s syndrome by upper-pole nephrectomy." Sao Paulo Medical Journal 125, no. 6 (November 2007): 354–55. http://dx.doi.org/10.1590/s1516-31802007000600010.

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CONTEXT: Fraley’s syndrome is characterized by vascular compression on the superior infundibulum with secondary dilatation of the upper pole calyx, mostly located on the right side. CASE REPORT: We present the case of a 22-year-old woman with vascular compression of the upper-pole infundibulocalyceal system (Fraley’s syndrome). The patient had a history of frequent hospitalizations for emergency care due to lumbar pain over the past twelve months. The diagnosis was obtained following renal arteriography. Since the surgical treatment by means of upper-pole nephrectomy, the patient has not had any further symptoms.

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Michel, Olivier, Manuel Clergue, and Philippe Collard. "Artificial Neurogenesis: Applications to the Cart-Pole Problem and to an Autonomous Mobile Robot." International Journal on Artificial Intelligence Tools 06, no. 04 (December 1997): 613–34. http://dx.doi.org/10.1142/s021821309700030x.

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A lot of recent research papers focus on the challenging problem of the combination of genetic algorithms and artificial neural networks. Developmental and molecular biology may be a source of inspiration for designing powerful artificial neurogenesis systems allowing the generation of complex modular structures. This paper describes in details such a neurogenesis model associated with an evolutionary process and its applications to the cart-pole problem and to the control of a mobile robot. Early results demonstrate the surprising efficiency of this methodology and give hints to continue the research towards the generation of more complex adaptive neural networks.

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Lewis, Matthew S., and Kevin E. Pflum. "Diagnosing Hospital System Bargaining Power in Managed Care Networks." American Economic Journal: Economic Policy 7, no. 1 (February 1, 2015): 243–74. http://dx.doi.org/10.1257/pol.20130009.

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We investigate the impact of hospital system membership on negotiations between hospitals and managed care organizations (MCOs). Previous research finds that system hospitals secure higher reimbursements by exploiting local market concentration. By leveraging system membership in the bargaining game, however, system hospitals may also extract a higher percentage of their value to an MCO. Our findings reveal that more of the observed price gap between system and nonsystem hospitals can be attributed to bargaining power differences than to differences linked to relative concentration. These results highlight the importance of explicitly modeling the bargaining process when evaluating negotiated-price markets more generally. (JEL C78, I11, I13, L14)

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Lubahn, Jessica D., Alan W. Shindel, and Stephen B. Brandes. "Duplicated Left Renal Collecting System Presenting With Posttraumatic Disruption of the Upper Pole Ureteropelvic Junction in an Adult Patient." Journal of Trauma: Injury, Infection, and Critical Care 67, no. 6 (December 2009): E177—E178. http://dx.doi.org/10.1097/ta.0b013e31812eedda.

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Hůsková, Jitka, and Petra Juřeníková. "THE USE OF THE NOC CLASSIFICATORY SYSTEM IN CONDITIONS OF INTENSIVE CARE." Profese online 6, no. 1 (April 1, 2013): 12–16. http://dx.doi.org/10.5507/pol.2013.003.

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Bode, Ingo, and Jorge E. Culebro M. "Paradoxical Internationalization: Regulatory Reforms in the Mexican Health-Care System through the Lens of European Experience." Politics & Policy 46, no. 4 (August 2018): 678–710. http://dx.doi.org/10.1111/polp.12268.

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Bastani, Spencer, Sören Blomquist, and Luca Micheletto. "Child Care Subsidies, Quality, and Optimal Income Taxation." American Economic Journal: Economic Policy 12, no. 4 (November 1, 2020): 1–37. http://dx.doi.org/10.1257/pol.20170648.

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We study child care subsidies in a Mirrleesian optimal tax framework where parents choose both the quantity and quality of child care. Child care services not only enable parents to work, but also contribute to children’s human capital. We examine the conditions under which child care expenditures should be encouraged or discouraged by the tax system under different assumptions regarding the available policy instruments. Using a quantitative model calibrated to the US economy, we illustrate the possibility that child care expenditures should be taxed rather than subsidized, and we discuss the merits of public provision schemes for child care. (JEL H21, H24, H41, J13)

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Ulia Rita Sila, Vinsensia. "PENINGKATAN HASIL DAN AKTIVITAS BELAJAR SISWA DENGAN MODEL PEMBELAJARAN KOOPERATIF TIPE INDEX CARD MATCH (ICM) DAN MEDIA PETA KONSEP." Gema Wiralodra 10, no. 1 (April 30, 2019): 62–69. http://dx.doi.org/10.31943/gemawiralodra.v10i1.10.

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The research aims (1) to know the improvement of Biology learning outcomes, material learning activities of living creatures organizational systems with cooperative learning model Index Card Match (ICM) type, (2) to find out student responses to the cooperative learning model Index Card Match (ICM) in learning material life organism system organization. The study was conducted at Polen SMPS, Puna Village, Polen Subdistrict, TTS Regency in June to August 2018, with 21 students as the subject. The results showed that the pre-research test results with a percentage of 61.90% classical completeness, while 100% continued research. The average score of pre-research student activity is 2, 99 with a fairly good category, while the average score of student activity in the 3.50 study is in the good category. Respondents gave a positive response by choosing a score of 3 in my aspect I like to study the material of living creature organization system material and I understand the material of living creature organization system using concept map media and look for pairs of cards with a percentage of 76% in pre-research, while in the research respondents gave a positive response by choosing a score of 4 in the aspect of the sentence in the media concept map can I easily understand and the sentence on the question card can easily be understood by a percentage of 100%. Keywords: Mind Mapping, Index Card Match (ICM), Learning Achievement, Learning Activity, Student Response.

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Zaman, Saefu. "POLA KONSUMTIF MASYARAKAT URBAN DALAM PERSPEKTIF SEMIOTIK DAN BUDAYA." Paradigma, Jurnal Kajian Budaya 7, no. 1 (August 30, 2017): 40. http://dx.doi.org/10.17510/paradigma.v7i1.138.

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Urban people who are migrants from rural or small town to the city have a high consumption behaviour. Consumer behaviour conducted by the urban is constituted by several reasons, such as following the metropolitan lifestyle, competing with others, improving social status, and the ease of credit card by the owners of capital. The social behaviour of people in a semiotic perspective is seen as a collection of signs. Signifier and signified is a component contained in the sign based on the views of structuralism (Saussurian). This process of understanding consumption activities does not stop at the stage of the initial or primary system. In meaning, advanced meaning or secondary system always appear. The meaning of the sign is no longer limited to the denotation meaning with a high convention but produces connotations meaning that is the result of interpretation of society. How consumption based on effort get a higher social status is a clear example of secondary meanings of consumption activities. Consumption of the particular material objects is no longer just based on the original function of the object, but rather an attempt to represent themselves to the material objects.

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Frakes, Michael, and Jonathan Gruber. "Defensive Medicine: Evidence from Military Immunity." American Economic Journal: Economic Policy 11, no. 3 (August 1, 2019): 197–231. http://dx.doi.org/10.1257/pol.20180167.

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We estimate the extent of defensive medicine by physicians, embracing the no-liability counterfactual made possible by the structure of liability rules in the Military Health System. Active-duty patients seeking treatment from military facilities cannot sue for harms resulting from negligent care, while protections are provided to dependents treated at military facilities and to all patients— active duty or not—that receive care from civilian facilities. Drawing on this variation and exploiting exogenous shocks to care location choices stemming from base-hospital closures, we find suggestive evidence that liability immunity reduces inpatient spending by 5 percent with no measurable negative effect on patient outcomes. (JEL H51, H56, I11, I18)

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Kristiawan, Nana. "Pola Adaptasi Ekologi Budaya Tiga Komunitas di Jambi." BHUMI: Jurnal Agraria dan Pertanahan 3, no. 2 (August 19, 2018): 189. http://dx.doi.org/10.31292/jb.v3i2.124.

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Abstract: Pattern of cultural ecological adaptation of the three group of society in Jambi is considered diverse. The background of this study is the occurrence of traditional cultifation practice, known as shifting cultivation, in Jambi. The first purpose of this study is to analyze pattern of adaptation of Talang Mamak, Malay and Javanese community by the existence of industrial economy of rubber plantation. Secondly, this study aims to analyze economic stability in livelihood system of the three community groups. This research use qualitative and quantitative methods. Data collection technique use in-depth interview, observation and survey of livelihood system. The results show that adaptation of cultural ecology of Talang Mamak and Java , even though based on forest ecosystem, but Talang Mamak shows the pattern of hunting and gathering. On the other hand, migrants from Java worked in the forest as loggers. The differences of adaptation method from each community show the process to achieve different stability of livelihood. Livelihood stability of Malay migrants is better than the other two, shown by incomes and degree of resilience that considered as better than the other groups. This condition caused by the adaptability of the households to the environment is higher, specifically on the range of available jobsAbstrak: Pola adaptasi ekologi budaya ketiga komunitas menunjukkan keragaman dalam proses pencarian penghidupan. Penelitian ini dilatarbelakangi oleh adanya budidaya tanam pertanian tradisional atau pertanian ladang berpindah. Tujuan penelitian ini adalah Pertama, untuk menganalisis pola adaptasi komunitas Talang Mamak, komunitas Melayu dan Pendatang Jawa terhadap sistem ekonomi industrial perkebunan karet. Kedua, Untuk menganalisis tentang stabilitas ekonomi dalam sistem mata pencaharian tiga komunitas. Penelitian menggunakan metode penelitian kualitatif dan kuantitatif. Teknik pengumpulan data yang digunakan adalah melalui wawancara mendalam, observasi dan survey tentang sistem penghidupan tiga komunitas. Hasilnya menunjukkan bahwa adaptasi ekologi budaya dari Talang Mamak dan Pendatang Jawa sekalipun berbasis pada ekosistem hutan, namun Talang Mamak menunjukkan cara bernafkah hunting and gathering. Di lain pihak, Pendatang Jawa bekerja di hutan sebagai pembalak kayu. Perbedaan cara beradapatasi dari tiap kelompok masyarakat menunjukkan proses menuju kestabilan nafkah yang berbeda. Stabilitas ekonomi rumahtangga Pendatang Melayu dilihat dari struktur pendapatan dan tingkat kelentingannya jauh lebih baik dibandingkan dua kelompok masyarakat yang lain. Hal ini karena daya adaptasi rumah tangga tersebut terhadap lingkungan lebih tinggi terutama dalam ragam pekerjaan yang lebih banyak.

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Langill, George. "Who's Caring for the Care Givers—A Nursing Dilemma." Healthcare Management Forum 2, no. 4 (December 1989): 6–11. http://dx.doi.org/10.1016/s0840-4704(10)61405-6.

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With our hospital system generally in crisis, exemplified by problems of access, rapid patient turnover and increasing acuity, one of the obvious first breaking points will be with those closest to the patient—our nurses. Nurses are experiencing increasing stress and burnout, which leads to disillusionment, turnover and attrition. The effect these problems have in enrollment in the care professions, especially nursing, is obvious now with lower enrollment and a general apathy toward the profession. Nurses view themselves as the tow person on the totem pole of clinical professions, an image which must be improved if people are to choose nursing as their career.

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Knyazev, Yury. "Social sphere in Slovenia: current state and features of financing." Social'naja politika i social'noe partnerstvo (Social Policy and Social Partnership), no. 6 (June 1, 2020): 17–25. http://dx.doi.org/10.33920/10.33920/pol-01-2006-02.

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The article describes the functioning of the three sectors of the social sphere in Slovenia — the pension system, health care and social guardianship. The emphasis is on the financing of these systems and the current problems of their activities and further reform. An author’s vision of a new approach to financing the social sphere is proposed, not on an individual or joint basis, but on the basis of direct coverage of necessary expenditures from the state budget, which increases as social productivity increases, regardless of the number of workers employed in the economy.

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Sari, Dely Indah, and Muhammad Jufri. "INTEGRATED NETWORK SYSTEM SECURITY TO DETERMINE GIS (GEOGRAPHIC INFORMATION SYSTEM) BASED CYBER CRIME PATTERNS." JURTEKSI (Jurnal Teknologi dan Sistem Informasi) 9, no. 1 (December 30, 2022): 83–90. http://dx.doi.org/10.33330/jurteksi.v9i1.1890.

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Abstract: crime mapping, namely by examining various spatial data factors that can be integrated to be able to produce a variety of information for security officers and the government in an effort to realize security in an area by utilizing geographic information systems by mapping, visualizing and analyzing crime incidents so that Various patterns and trends of spatial and temporal crime are generated using the main concept of cryptography, namely the encryption or encryption process where the plaintext encoding process becomes ciphertext and the decryption or description process, which is the process of returning the ciphertext to the original plaintext using the Electronic Code Book (ECB) algorithm and the ECB algorithm vigenere Keywords: criminal patterns, geographic information systems, network system Abstrak: pemetaan kriminalitas yaitu dengan mengkaji berbagai macam faktor data spasial yang dapat terintegrasi untuk dapat menghasilkan keanekaragaman informasi bagi aparat keamanan dan pemerintah dalam upaya mewujudkan kemanan di suatu area dengan memanfaatkan sistem informasi geografis dengan cara dilakukan memetakan, memvisualkan dan menganalisis insiden kriminalitas sehingga dihasilkan beragam pola maupun trend kriminalitas secara spasial temporal dengan menggunakan konsep utama dari kriptografi yaitu proses enkripsi atau enkription dimana proses penyandian plainteks menjadi cipherteks dan proses dekripsi atau description yaitu proses mengembalikan cipherteks menjadi plainteks semula menggunakan algoritma Elektronic Code Book (ECB) dan algoritma Vigenere. Kata kunci: pola kriminalitas, sistem informasi geografis, sistem keamanan

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Mahyudin, Mahyudin, and Nurbaiti Nurbaiti. "Pola Asuh Anak Perempuan Gayo Dalam Perspektif Gender." Hikmah: Journal of Islamic Studies 14, no. 1 (May 20, 2018): 40. http://dx.doi.org/10.47466/hikmah.v14i1.102.

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Family is the first social environment where children can interact. It is in this primary institution that a child experiences parenting. Prolonged parenting will form a habit in children. Teaching good habits is very important to do since the beginning of a child’s life and education through habituation can be done by giving parenting to children or students. Parenting between families with one another are different. Many factors can influence parenting by the family. One of the factors that determine the shape of parenting is culture, so that among tribes and others have different forms of parenting. In providing parenting, the Gayo tribe is strongly influenced by the traditions and culture which they have. They follow to the patrilineal kinship system, which is a fatherly manner, and in principle, this system is a kinship system that draws the lineage of the father or male ancestors. Boys have a very important role in the kinship system of the Gayo tribe, boys are given an important place, because boys are successors and nobility. This such parenting is known as gender bias, because boys and girls get different status and roles based on sex (sex) and not based on their abilities. Keywords: Parenting, Parents, Child, Gender Bias, Gayo Tribe Keluarga merupakan lingkungan sosial pertama tempat anak dapat berinteraksi. Pada institusi primer inilah seorang anak mengalami pengasuhan. Pola asuh yang berkepanjangan akan membentuk sebuah pembiasaan pada anak. Penanaman pembiasaan yang baik, sangat penting dilakukan sejak awal kehidupan anak dan pendidikan melalui pembiasaan dapat dilakukan dengan cara memberikan pola asuh pada anak/siswa. Pola asuh anak antara keluarga satu dengan keluarga lainnya berbeda-beda. Banyak faktor yang dapat mempengaruhi pola asuh yang dilakukan keluarga. Salah satu faktor yang turut menentukan bentuk pola asuh orang tua adalah budaya, sehingga antara suku satu dengan lainnya mempunyai bentuk pola asuh berbeda. Dalam memberikan pola asuh, suku gayo sangat dipengaruhi oleh tradisi dan budaya yang mereka miliki. Mereka menganut sistem kekerabatan patrilineal yaitu bersifat kebapaan, dan pada prinsipnya, sistem ini merupakan sistem kekerabatan yang menarik garis keturunan ayah atau garis keturunan nenek moyang laki-laki. Anak lelaki peranannya sangat penting dalam sistem kekerabatan suku gayo, anak lelaki diberikan tempat yang penting, karena anak lelaki merupakan penerus keturunan dan gelar kebangsawan . Pola asuh seperti itulah yang kemudian dikenal dengan pola asuh bias gender, karena anak laki-laki dan anak perempuan mendapatkan status dan peranan berbeda berdasarkan jenis kelamin (sex) dan bukan berdasarkan kemampuan yang dimiliki. Kata Kunci: Pola asuh, orang tua, anak, bias gender, suku gayo.

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Startseva, Olga Nikolaevna. "Social adaptation of elderly persons in long-term care facilities." Social'naja politika i social'noe partnerstvo (Social Policy and Social Partnership), no. 1 (January 1, 2021): 54–57. http://dx.doi.org/10.33920/pol-01-2101-09.

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Mu'jizah, Mu'jizah. "Teks, Konteks, Dan Pola Kebertahanan Wayang Kulit Betawi." ATAVISME 18, no. 1 (June 29, 2015): 91–105. http://dx.doi.org/10.24257/atavisme.v18i1.35.91-105.

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Penelitian ini bertujuan mengidentifikasi cara wayang kulit bertahan hidup dan upaya yang harus dilakukan untuk meningkatkan daya hidupnya. Metode yang digunakan adalah metode kualitatif dengan pendekatan struktural dan metode kuantitatif. Pembahasan difokuskan pada teks, konteks, dan kebertahananya. Dari penelitian ini dapat dibuktikan bahwa wayang Betawi termarginalisasi. Jika pada tahun 1980‐an satu bulan wayang Betawi ditanggap rata‐rata dua kali, pada tahun 2013-2014, dalam setahun hanya satu kali. Penanggap itu pun berasal dari instansi pemerintah, seperti Museum Wayang, bukan masyarakat pemangkunya. Hal itu menandakan bahwa wayang Betawi semakin terpinggirkan oleh suku Betawi sendiri dan masyarakat pada umumnya. Keprihatinan itu semakin jelas dengan sistem pewarisan pedalangan wayang Betawi. Kini rata‐rata dalang wayang Betawi sudah tua. Agar wayang kulit Betawi tetap bertahan hidup, para dalang harus melakukan inovasi seperti yang dilakukan Sukarlana dan upaya pelindungan dilakukan dengan cara revitalisasi dan aktualisasi. Abstract: This study aims to identify the way Betawi puppets has survived and what efforts need to take. The method used was a qualitative one with a structural approach and quantitative method. The study focused on the text, context, as well as patterns of Betawi puppet’s way to survive. This study proved that Betawi puppet has been marginalized. If in the eighties, the puppet performance could appear two or three times a month, in 2013—2014 there is only one performance in a year. In fact, the order came from government agencies such as Museum Wayang, and none from its own society. This indicates that the Betawi puppet was demoted by Betawi ethnic community itself and the society in general. This concern conditions is increasingly discernable with Betawi puppetry inheritance system. Recently the Betawi puppeteers on average are elders. In preserving Betawi puppet, the puppeteers must make inovation just like what Sukarlana has been doing and preservation efforts revitalitation and actualization. Key Words: marginalized; endangered; conservation; revitalization

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