Robots learn to dance through interaction with humans

In this paper, we investigated an approach for robots to learn to adapt dance actions to human’s preferences through interaction and feedback. Human’s preferences were extracted by analysing the common action patterns with positive or negative feedback from the human during robot dancing. By using a buffering technique to store the dance actions before a feedback, each individual’s preferences can be extracted even when a reward is received late. The extracted preferred dance actions from different people were then combined to generate improved dance sequences, i.e. performing more of what was preferred and less of that was not preferred. Together with Softmax action-selection method, the Sarsa reinforcement learning algorithm was used as the underlining learning algorithm and to effectively control the trade-off between exploitation of the learnt dance skills and exploration of new dance actions. The results showed that the robot learnt, using interactive reinforcement learning, the preferences of human partners, and the dance improved with the extracted preferences from more human partners.     

Arylidene polymers. XVIII. Synthesis and thermal behavior of organometallic arylidene polyesters containing ferrocene derivatives in the main chain

A new interesting category of organometallic polyesters based on diarylidenecycloalkanones containing ferrocene derivatives in the polymer main chain has been prepared by interfacial polycondensation of 1,1′-dichlorocarbonyl ferrocene or 1,1′-dichlorocarbonyl-4,4′-diiodoferrocene with 2,5-bis(p-hydroxybenzylidene)cyclopentanone, 2,5-divanillylidenecyclopentanone, 2,6-bis(p-hydroxybenzylidene)cyclohexanone, 2,6-divanillylidenecyclohexanone, and 2,7-bis(p-hydroxybenzylidene) cycloheptanone. The resulting polyesters were characterized by elemental analyses, infrared spectroscopy, solubility, and viscometry measurements. The thermal behavior of the synthesized polymers was evaluated by thermal gravimetric analysis and correlated with their structures. The crystallinity of all polymers were examined by x-ray diffraction analysis. Moreover, the electrical conductivity of a selected example of polymer was investigated above the temperature range (300–500 K) and showed that it followed an Arrhenius-type equation with activation energy 2.09 eV. © 1993 John Wiley & Sons, Inc.     

Mechanisms of degradation of cotton and effects of mercerization-stretching upon the course of these mechanisms,part VII. Characterization of microstructural differences between scoured cotton and slack mercerized-stretched cottons

Conditions were established to introduce almost equal and reproduciple amounts of diethylaminoethyl (DEAE) substituents into the molecular structure of scoured cotton (substrate I), slack mercerized cotton (substrate II), slack mercerized-stretched (94%, substrate III), and slack mercerized-stretched (103%, substrate IV) cotton. Similarities between the original structures of these substrates before and after the chemical modification were assessed by X-ray analysis. Comparison between the DEAE cottons and the corresponding unmodified cottons upon acid hydrolysis with respect to moisture regain, loss in weight and degree of polymerization was also made. Chemical analysis was used to study the compositions and structures of the hydrolyzates (i.e., hydrocelluloses and solublized fractions) resulting from hydrolysis of the modified cottons with 2.5 N HCl under reflux for different lengths of time. Studies of rates of hydrolysis of the cellulose, rates of removal of substituted glucoses and rates of removal of individual types of substituted glucose units were considered as means to provide information regarding: (a) distribution of DEAE substitutents throughout the structure of cellulose, (b) nature of accessible regions where the DEAE substituents are developed, and (c) selective availability of the hydroxyl groups at C-2, C-3 and C-6 of the D-glucopyranosyl units in the cellulose elementary fibril.     

Improving the dyeing properties of textiles via utilization of redox systems. I. Dyeing of wool and wool/polyacrylic blend fabrics with acid dye

Dyeing of wool and wool/polyacrylic fabrics with an acid dye, namely, Kiton Scarlet 4 R, was carried out in absence or presence of different redox systems. The latter were based on sodium, potassium, or ammonium peroxodisulphate or potassium periodate as oxidant and glucose, sodium thiosulphate, potassium pyrosulphite or thiourea as reductant. Regardless of the redox system used, the colour strength was far greater in presence than in absence of the redox system. Except in case of potassium periodate/glucose redox system, increasing the oxidant concentration up to 0.03 mol/l caused significant enhancement in colour strength. The same was observed upon increasing the temperature from 30 to 60°C as well as the time from 10 to 40 minutes. It is postulated that presence of the redox system alters the mode of dye attachment to the substrate. Association of the dye with the substrate, wool in particular, seems to involve covalent bonding beside the usual salt-linkage. Hence the approach presented is advantageous in producing dyeings with much higher colour strength and dye fixation at relatively low temperature.     

Attitudes towards mobile banking: are there any differences between users and non-users?

Extant research has focused on monitoring the behaviour of people who use mobile banking (MB) but it has paid little attention to understanding the impact of information technology usage behaviour due to cultural differences. Humans are the weakest link in information technology adoption; past research has shown that not all users are predisposed to change their behaviour radically and adopt new channels of banking. This paper examines the demographic patterns of users and non-users of MB. The paper also investigates the attitudinal influences of users and non-users of MB based on innovation attributes. Using empirical research, the study identifies constructs of innovation attributes that were perceived to be significantly different among the users and non-users of MB. The study provides valuable insights into MB in Saudi Arabia that have not been previously investigated. From a practical point, findings of this study will be particularly useful to banks, financial institutions and telecommunication service providers.     

Sintering of Ceramic Particulate Composites: Effect of Matrix Density

Composites consisting of a fine-grained, polycrystalline zinc oxide matrix and <10 vol% coarse, rigid silicon carbide inclusions were prepared by the same mixing procedure and then compacted to produce samples with matrix densities of 0.45 and 0.68 of the theoretical. The samples were sintered under identical temperature profiles in separate experiments that employed either a constant rate of heating of 4°C/min or near isothermal heating at 735°C. The ratio of the densification rate of the composite matrix to the densification rate of the unreinforced zinc oxide was found to be independent of the initial matrix density. This ratio increased significantly with temperature in the constant-heating-rate experiments but was relatively constant in the isothermal experiments. The results indicate that microstructural coarsening may be an important mechanism for explaining the reduced sinterability of polycrystalline matrix composites.     

Tomato Seed Oil II Evaluation of the Egyptian Tomato Seed Oil and the Residual Meal

The oil extracted from tomato seeds and the resultant cake were evaluated. The whole seeds were analyzed for the gross composition. The oil extracted with hexane was examined for its physical and chemical properties. The residual meal was evaluated for the gross, minerals and amino acids. The obtained results were compared with those of cotton seeds.     

A preemptive bound for the Resource Constrained Project Scheduling Problem

The Resource Constrained Project Scheduling Problem is one of the most intensively investigated scheduling problems. It requires scheduling a set of interrelated activities, while considering precedence relationships, and limited renewable resources allocation. The objective is to minimize the project duration. We propose a new destructive lower bound for this challenging ${\mathcal {NP}}$ -hard problem. Starting from a previously suggested LP model, we propose several original valid inequalities that aim at tightening the model representation. These new inequalities are based on precedence constraints, incompatible activity subsets, and nonpreemption constraints. We present the results of an extensive computational study that was carried out on 2,040 benchmark instances of PSPLIB, with up to 120 activities, and that provide strong evidence that the new proposed lower bound exhibits an excellent performance. In particular, we report the improvement of the best known lower bounds of 5 instances.     

Predictive and content-aware load balancing algorithm for peer-service area based IPTV networks

Load balancing is a crucial factor in IPTV delivery networks. Load balancing aims at utilizing the resources efficiently, maximizing the throughput, and minimizing the request rejection rate. The peer-service area is the recent architecture for IPTV delivery networks that overcomes the flaws of the previous architectures. However, it still suffers from the load imbalance problem. This paper investigates the load imbalance problem, and tries to augment the peer-service area architecture to overcome this problem. To achieve the load balancing over the proposed architecture, we suggest a new load-balancing algorithm that considers both the expected and the current load of both contents and servers. The proposed load-balancing algorithm consists of two stages. The first stage is the contents replication according to their expected load, while the second stage is the content-aware request distribution. To test the effectiveness of the proposed algorithm, we have compared it with both the traditional Round Robin algorithm and Cho algorithm. The experimental results depict that the proposed algorithm outperforms the two other algorithms in terms of load balance, throughput, and request rejection rate.     

H ∞ filtering for singular bilinear systems with application to a single-link flexible-joint robot

In this paper, we consider the H _∞ filters design for singular bilinear systems. The approach is based on the parameterized solution of a set of constrained Sylvester equations. The exponential convergence and l ₂ gain attenuation problems are solved by using the bounded real lemma, which leads to linear matrix inequalities (LMI) formulation. Finally, a detailed design procedure is given for the estimation of the states of a flexible joint robot, which demonstrates the effectiveness of the proposed method.