Deep Vision Servo Hand-Eye Coordination Planning Study for Sorting Robots

Within the context of large-scale symmetry, a study on deep vision servo hand-eye coordination planning for sorting robots was conducted according to the problems of low recognition-sorting accuracy and efficiency in existing sorting robots. In order to maintain the symmetry of the picking robot, a small telescopic sorting robot with RealSense depth vision servo embedded in the manipulator was developed. The workspace and posture of picking parcels were analyzed, and the coordinate transformation model of hand-eye coordination was established for the “Eye-in-hand” mode. The hand-eye coordinated sorting test shows that the average positioning accuracy of the end in the X, Y and Z directions is 3.49 mm, 2.76 mm and 3.32 mm respectively, and the average time is 19.19 s. Among them, the average time for the mechanical arm to pick up the package from the initial position is 12.02 s, the average time for intermediate identification and calculation is 3.79 s, and the average time for placing the package is 6.9 s. The time consumed by robot arm’s action accounts for 79.8% of the whole cycle. The robot structure and the hand-eye coordination strategy with RealSense depth vision servo embedded in the robot can meet picking operation requirements, and the design of a picking robot proposed in this paper can greatly improve the coordination symmetry of fruit target recognition, detection, and picking.

An Argument for Phonological Stress in French: the syntagm over contrast

It is standardly assumed that French does not have word-stress, rather it has phrase-level prominence. I will advance a number of arguments, many of which have appeared already in the literature, that cumulatively suggest that French roots are characterized by phonological prominence, even if this is non-contrastive. By prominence, I mean a syntagmatically distributed strength that has all the phonological characteristics of stress in other Romance languages. I will remain agnostic about the nature of that stress, eschewing the lively debate about whether French has feet, and if so what type, and at what level. The structure of the argument is as follows. French demonstrably has phonological word-final strength but one wonders what the source of this strength is. Positionally, the initial position is strong and, independently of cases where it is reinforced by other factors, the final position is weak. I will argue, based on parallels with other Romance languages, that French word-final strength derives from root-final phonological stress. The broader significance of this conclusion is that syntagmatic properties are enough to motivate underlying forms, even in the absence of paradigmatic contrasts (minimal pairs).

Learning self-driven collective dynamics with graph networks

Despite decades of theoretical research, the nature of the self-driven collective motion remains indigestible and controversial, while the phase transition process of its dynamic is a major research issue. Recent methods propose to infer the phase transition process from various artificially extracted features using machine learning. In this thesis, we propose a new order parameter by using machine learning to quantify the synchronization degree of the self-driven collective system from the perspective of the number of clusters. Furthermore, we construct a powerful model based on the graph network to determine the long-term evolution of the self-driven collective system from the initial position of the particles, without any manual features. Results show that this method has strong predictive power, and is suitable for various noises. Our method can provide reference for the research of other physical systems with local interactions.

Fast magnetic resonance elastography with multiphase radial encoding and harmonic motion sparsity based reconstruction

Objective: To achieve fast magnetic resonance elastography (MRE) at a low frequency for better shear modulus estimation of the brain. Approach: We proposed a multiphase radial DENSE MRE (MRD-MRE) sequence and an improved GRASP algorithm utilizing the sparsity of the harmonic motion (SH-GRASP) for fast MRE at 20 Hz. For the MRD-MRE sequence, the initial position encoded by one spatial modulation of magnetization (SPAMM) was decoded by an arbitrary number of readout blocks without increasing the number of phase offsets. Based on the harmonic motion, a modified total variation and temporal Fourier transform were introduced to utilize the sparsity in the temporal domain. Both phantom and brain experiments were carried out and compared with that from multiphase Cartesian DENSE-MRE (MCD-MRE), and conventional gradient echo sequence (GRE-MRE). Reconstruction performance was also compared with GRASP and compressed sensing. Main results: Results showed the scanning time of a fully sampled image with four phase offsets for MRD-MRE was only 1/5 of that from GRE-MRE. The wave patterns and estimated stiffness maps were similar to those from MCD-MRE and GRE-MRE. With SH-GRASP, the total scan time could be shortened by additional 4 folds, achieving a total acceleration factor of 20. Better metric values were also obtained using SH-GRASP for reconstruction compared with other algorithms. Significance: The MRD-MRE sequence and SH-GRASP algorithm can be used either in combination or independently to accelerate MRE, showing the potentials for imaging the brain as well as other organs.

An Improved Intrusion Weed Optimization Algorithm for Node Location in Wireless Sensor Networks

The distribution optimization of WSN nodes is one of the key issues in WSN research, and also is a research hotspot in the field of communication. Aiming at the distribution optimization of WSN nodes, the distribution optimization scheme of nodes based on improved invasive weed optimization algorithm(IIWO) is proposed. IIWO improves the update strategy of the initial position of weeds by using cubic mapping chaotic operator, and uses the Gauss mutation operator to increase the diversity of the population. The simulation results show that the algorithm proposed in this paper has a higher solution quality and faster convergence speed than IWO and CPSO. In distribution optimization example of WSN nodes, the optimal network coverage rate obtained by IIWO is respectively improved by 1.82% and 0.93% than the IWO and CPSO. Under the condition of obtaining the same network coverage rate, the number of nodes required by IIWO is fewer.

Predictive Processing in Poetic Language: Event-Related Potentials Data on Rhythmic Omissions in Metered Speech

Predictions during language comprehension are currently discussed from many points of view. One area where predictive processing may play a particular role concerns poetic language that is regularized by meter and rhyme, thus allowing strong predictions regarding the timing and stress of individual syllables. While there is growing evidence that these prosodic regularities influence language processing, less is known about the potential influence of prosodic preferences (binary, strong-weak patterns) on neurophysiological processes. To this end, the present electroencephalogram (EEG) study examined whether the predictability of strong and weak syllables within metered speech would differ as a function of meter (trochee vs. iamb). Strong, i.e., accented positions within a foot should be more predictable than weak, i.e., unaccented positions. Our focus was on disyllabic pseudowords that solely differed between trochaic and iambic structure, with trochees providing the preferred foot in German. Methodologically, we focused on the omission Mismatch Negativity (oMMN) that is elicited when an anticipated auditory stimulus is omitted. The resulting electrophysiological brain response is particularly interesting because its elicitation does not depend on a physical stimulus. Omissions in deviant position of a passive oddball paradigm occurred at either first- or second-syllable position of the aforementioned pseudowords, resulting in a 2-by-2 design with the factors foot type and omission position. Analyses focused on the mean oMMN amplitude and latency differences across the four conditions. The result pattern was characterized by an interaction of the effects of foot type and omission position for both amplitudes and latencies. In first position, omissions resulted in larger and earlier oMMNs for trochees than for iambs. In second position, omissions resulted in larger oMMNs for iambs than for trochees, but the oMMN latency did not differ. The results suggest that omissions, particularly in initial position, are modulated by a trochaic preference in German. The preferred strong-weak pattern may have strengthened the prosodic prediction, especially for matching, trochaic stimuli, such that the violation of this prediction led to an earlier and stronger prediction error. Altogether, predictive processing seems to play a particular role in metered speech, especially if the meter is based on the preferred foot type.

DISCOURSE MARKERS USED BY STUDENTS IN NONFORMAL EDUCATION

It is very common to acknowledge that in order to achieve a good communication, discourse markers are needed as one of a tool to perform in linking the ideas to ideas, especially in spoken language, it’s really helpful in guiding the speakers and listeners to comprehend what is being discussed or talked. There are several studies has been discussed about what discourse markers are especially in spoken language, but in this research, the realization of discourse markers is the aim of the study. The data source of this research were students in Harford Institute Sekip Branch, there were 16 students taken from 4 different levels and they were taken by using purposive sampling. The data were the words from their utterances which contains of discourse markers which were collected by using audio recorder. And the research was done by applying descriptive qualitative method. The result revealed that there are 3 realizations based on the position found in Discourse Markers, they are at the boundary (Initial), after the first word (Middle) and later (Final), where initial discourse markers appeared as the most dominant one. It is proved that the discourse marker realized in the Initial position to signal upcoming information, since discourse markers has the essential function to connect or link ideas to the ideas or even as a pause in the speech. Keywords: Discourse Markers, Students Interactions, NonformalEducation

Oceanic response to cyclone moving in different directions over Indian Seas using IRG model

The IITM Reduced Gravity (IRG) ocean model is employed to investigate the influence of tropical cyclone moving in different directions in Indian Seas. Some of the observed storm tracks in the Arabian Sea and Bay of Bengal are considered which have northward and westward movement. Sensitivity study is carried out for initial position of the storm at (90° E, 10° N) and moving in different directions. For westward moving cyclones the right bias in the model upper-layer thickness deviation (ULTD) field disappears. In an another experiment of westward moving cyclone originating at different latitudes, the ocean response is found to be sensitive to the Coriolis parameter (f). The surface currents as well as ULTD reduce, as f increases. The amplitude and the wavelength of inertia gravity wave increase with decrease in f, in the wake of the cyclone. This study helps to determine the upwelling region arising due to movement of the cyclone.

L’apposition en français et en slovène

This article first gives an overview of the different uses of French apposition and then focuses on nominal appositions, a kind of supplementive clause introduced by a nominal group (NG) without an article. Only translations of initial nominal appositions are examined, i.e. those which are placed at the beginning of the sentence and where the content of the initial structure is expressed by an apposition or NG as the subject. In this context, word order and the use of commas are discussed, which are often of importance for Slovenian language users. Based on the FraSloK corpus, the following conclusions can be drawn: (a) sentence-initial position is maintained much more often in novels than in newspaper articles; (b) the expression of the content of initial structures with an apposition and an NG, which functions as a subject, is fairly evenly represented in more than half of the cases from newspaper articles, while in novels the subject function is prominent; (c) apart from the change in sentence position, Slovenian apposition corresponds to the source structure, and when its content is expressed by an NG with subject function, there are changes at different levels compared to French; (d) the (non-)use of the comma cannot be satisfactorily justified on the basis of the present corpus, but the examples suggest that it is based on translators’ personal choices and also depends on the possibilities of expression in the target language. Suggestions have already been made to change the rules and usage examples, which are not tenable in our cases, and would require further consideration.

A Longitudinal Study of Speech Acoustics in Older French Females: Analysis of the Filler Particle euh across Utterance Positions

Aging in speech production is a multidimensional process. Biological, cognitive, social, and communicative factors can change over time, stay relatively stable, or may even compensate for each other. In this longitudinal work, we focus on stability and change at the laryngeal and supralaryngeal levels in the discourse particle euh produced by 10 older French-speaking females at two times, 10 years apart. Recognizing the multiple discourse roles of euh, we divided out occurrences according to utterance position. We quantified the frequency of euh, and evaluated acoustic changes in formants, fundamental frequency, and voice quality across time and utterance position. Results showed that euh frequency was stable with age. The only acoustic measure that revealed an age effect was harmonics-to-noise ratio, showing less noise at older ages. Other measures mostly varied with utterance position, sometimes in interaction with age. Some voice quality changes could reflect laryngeal adjustments that provide for airflow conservation utterance-finally. The data suggest that aging effects may be evident in some prosodic positions (e.g., utterance-final position), but not others (utterance-initial position). Thus, it is essential to consider the interactions among these factors in future work and not assume that vocal aging is evident throughout the signal.