Tutorial

This paper is an introductory tutorial for numerical trajectory optimization with a focus on direct collocation methods. These methods are relatively simple to understand and effectively solve a wide variety of trajectory optimization problems. Throughout the paper we illustrate each new set of concepts by working through a sequence of four example problems. We start by using trapezoidal collocation to solve a simple one-dimensional toy-problem and work up to using Hermite–Simpson collocation to compute the optimal gait for a bipedal walking robot. Along the way, we cover basic debugging strategies and guidelines for posing well-behaved optimization problems. The paper concludes with a short overview of other methods for trajectory optimization. We also provide an electronic supplement that contains well-documented Matlab code for all examples and methods presented in this paper. Our primary goal is to provide the reader with the resources necessary to understand and successfully implement their own direct collocation methods.

Although significant progress is made in identifying pH sensing materials
and device configurations, a standard protocol for benchmarking performance
of next-generation pH devices is still lacking. In particular, key properties of
characterization systems, such as inherent component contributions, time
plots for extended-gate field-effect transistor (EGFET) measurements, and the
input resistance (Rin), often go unreported in studies of pH sensing systems.
These properties strongly influence the characterization system and can lead
to mistaken attribution of properties to the device. In this paper, a series
of essential characterization tests and parameters are reported to evaluate
pH systems, such as the zinc oxide EGFET, in a standardized protocol. This
EGFET ZnO sensor has a sensitivity of −58.1 mV pH−1, drift range from 2.5 to
14.2 µA h−1, and response time of 136 s. By using a ZnO sensing electrode,
it is demonstrated that i) intrinsic contributions of reference electrode and
commercial transistor (for EGFET) are not negligible; ii) time plots for EGFET
configuration and defining a critical point at the onset of drift are essential for
accurate sensitivity, response time, and drift reporting; and iii) the results of
the pH sensing system are strongly dependent on the input resistance of the
used characterization instruments.

Recent decades have seen a move toward evidence-based medicine to inform the clinical decision-making process with reproducible findings from high-quality research studies. There is a need for objective, quantitative measurement tools to increase the reliability and reproducibility of studies evaluating the efficacy of healthcare interventions, particularly in the field of physical and rehabilitative medicine. Surface electromyography (sEMG) is a non-invasive measure of muscle activity that is widely used in research but is under-utilized as a clinical tool in rehabilitative medicine. Other types of electrophysiological signals (e.g., electrocardiography, electroencephalography, intramuscular EMG) are commonly recorded by healthcare practitioners, however, sEMG has yet to successfully transition to clinical practice. Surface EMG has clear clinical potential as an indicator of muscle activation, however reliable extraction of information requires knowledge of the appropriate methods for recording and analyzing sEMG and an understanding of the underlying biophysics. These concepts are generally not covered in sufficient depth in the standard curriculum for physiotherapists and kinesiologists to encourage a confident use of sEMG in clinical practice. In addition, the common perception of sEMG as a specialized topic means that the clinical potential of sEMG and the pathways to application in practice are often not apparent. The aim of this paper is to address barriers to the translation of sEMG by emphasizing its benefits as an objective clinical tool and by overcoming its perceived complexity. The many useful clinical applications of sEMG are highlighted and examples provided to illustrate how it can be implemented in practice. The paper outlines how fundamental biophysics and EMG signal processing concepts could be presented to a non-technical audience. An accompanying tutorial with sample data and code is provided which could be used as a tool for teaching or self-guided learning. The importance of observing sEMG in routine use in clinic is identified as an essential part of the effective communication of sEMG recording and signal analysis methods. Highlighting the advantages of sEMG as a clinical tool and reducing its perceived complexity could bridge the gap between theoretical knowledge and practical application and provide the impetus for the widespread use of sEMG in clinic.

This paper presents a tutorial on Kalman filtering that is designed for instruction to undergraduate students. The idea behind this work is that undergraduate students do not have much of the statistical and theoretical background necessary to fully understand the existing research papers and textbooks on this topic. Instead, this work offers an introductory experience for students which takes a more practical usage perspective on the topic, rather than the statistical derivation. Students reading this paper should be able to understand how to apply Kalman filtering tools to mathematical problems without requiring a deep theoretical understanding of statistical theory.

La tutoría académica es un servicio distintivo de los centros de escritura frente a otras estrategias de promoción y fortalecimiento de la lectura y la escritura en la escuela. Este artículo tiene como propósito identificar las estrategias de acompañamiento desarrolladas por los tutores durante los servicios ofrecidos por dos Centros de Escritura Digital (CED) en la educación media. El método utilizado fue el estudio de caso, en
el que participaron dos instituciones educativas, una pública y otra privada, de Medellín, Colombia. Para el análisis de la información se utilizaron los gráficos de las coordenadas del centroide y el porcentaje, alcance y frecuencia por tamaño de caso. En los resultados se muestra que las estrategias utilizadas correspondieron a las realidades institucionales y el servicio ofrecido desde el CED. En las conclusiones se afirma que
las tutorías son una estrategia de orientación de la escritura académica, complementaria al trabajo de aula que se desarrolla en las diferentes áreas y asignaturas del currículo escolar de la educación media.

Extensions in the field of joint modeling of correlated data and dynamic predictions improve the development of prognosis research. The R package frailtypack provides estimations of various joint models for longitudinal data and survival events. In particular, it fits models for recurrent events and a terminal event (frailtyPenal), models for two survival outcomes for clustered data (frailtyPenal), models for two types of recurrent events and a terminal event (multivPenal), models for a longitudinal biomarker and a terminal event (longiPenal) and models for a longitudinal biomarker, recurrent events and a terminal event (trivPenal). The estimators are obtained using a standard and penalized maximum likelihood approach, each model function allows to evaluate goodness-of-fit analyses and provides plots of baseline hazard functions. Finally, the package provides individual dynamic predictions of the terminal event and evaluation of predictive accuracy. This paper presents the theoretical models with estimation techniques, applies the methods for predictions and illustrates frailtypack functions details with examples.

This paper describes development of a simulator for airborne altimetric LiDAR. Main aim of simulator is to replicate the functioning of LiDAR sensor and generate data for a given terrain with specified parameters of the sensor and trajectory. The simulator has three components: 1) Terrain component, 2) Sensor component, and 3) Platform component. The terrain component is formed using multiple mathematical surfaces for bald terrain and for objects on top of the surface. The sensor component is designed to account for various parameters that can be set and varied in a LiDAR sensor. The third component attempts to replicate the platform parameters, viz., velocity, roll, pitch, yaw and accelerations. Simulated data should be similar to the data which might have been collected by actual sensor when operating with specified sensor and trajectory parameters over the given terrain. This is realized by first finding the time and space varying equation of laser vector and then determining the...

Software tools, built with Asymetrix Multimedia ToolBook, have been developed to facilitate embedding of mechanistic simulation resources into electronic tutorials. The Simulation Control Program (SCoP) has been modified to create Windows Dynamic Link Libraries (DLLs) directly from model source code using a graphic user interface (GUI). SCoP DLLs can be linked into ToolBook applications containing animation objects and/or dynamic graphs. Another GUI builds any required graphing objects and ToolBook scripts using an information file generated by the DLL builder. The resulting scripts are easily modified to synchronise quantitatively precise motion of animation objects with or without dynamic graphical display.

El acompañamiento tutorial, en los últimos años, ha venido cobrando relevancia debido a la implicancia que tiene en el desempeño socioemocional y académico de los estudiantes, es por ello que muchas universidades diseñan planes institucionales que permiten a sus estudiantes fortalecer habilidades y capacidades. En ese sentido, el presente estudio pretende conocer cuáles son las percepciones que tiene un grupo de 30 estudiantes, entre 15 y 18 años, provenientes del interior del país, respecto a las actividades desarrolladas en el programa tutorial del semestre 2014-1. Se empleó un diseño cualitativo de tipo fenomenológico, y para la recolección de datos se emplearon grupos focales y técnicas proyectivas. Los resultados indican que el programa tutorial es concebido por los estudiantes como un espacio de apoyo, escucha que favorece al proceso de adaptación a la vida universitaria, aunque, también, señalan que éste debe ajustarse de acuerdo a las constantes necesidades del grupo.

Tutorial support has become more relevant in recent years because of its implications on the socio-emotional and academic performance of students. Consequently, many universities are implementing institutional plans designed to enable students to strengthen their skills and abilities. In that sense, the study seeks to examine the perception of a group of 30 inland students, between the ages of 15 and 18, with respect to the activities developed during the 2014-1 tutorial program. A qualitative phenomenological design was used, as well as focus groups and projective techniques for the data collection process. The results indicate that students view the tutorial program as a space for support and attention, which contributes to the college-life adjustment process; however, they indicate that it should be adapted to the group’s ever-changing needs.

AUTOR: Marcelo Torres, Nohemí Estefani
EDITORIAL: Universidad Peruana de Ciencias Aplicadas (UPC)
REVISTA: Revista Digital de Investigación en Docencia Universitaria (RIDU)
FECHA DE PUBLICACIÓN: JUNIO 2015
URL: http://hdl.handle.net/10757/604870

ENLACES ADICIONALES:
http://revistas.upc.edu.pe/index.php/docencia/article/view/401

This article presents the collection and analysis - via the Modalisa and Tropes softwares - of 1867 comments from subscribers to 10 videos for "beginners or great beginners" on guitar. It relies on two semi-structured interviews with the creator of the chain MrGalagomusic, the first videographer of the French web in number of subscribers, offering tutorials for learning the guitar. It is to understand how the tutorial form allows the sharing of experiences, knowledge and skills that do not fall within the classical and linear pattern of transmission in the information and communication sciences. The "tutorial" on YouTube commits a communication from youtuber to the user, from the user to the youtuber or from the user to another user by the possibility of leaving a comment and responding. It is more similar to forms of orchestral communication that are based on interaction and is a relevant object to understand the logic of sharing, exchange, contribution and participation engaged on digital interfaces and useful for understanding the new challenges that arise in the dynamics linked to artistic and cultural education issues.

This article is part of the results obtained from the tutoring strategy implemented in the Psychology bachelor degree program, based on e-learning, offered by the Autonomous University of the State of Morelos (UAEM). The experience of the first generation of the mentioned program is analyzed (2014-2018). The purpose of this research project is to document and evaluate the implementation process of tutoring in this program. The research question was: How effective have the virtual cubicles for tutoring been, as implemented in the UAEM Psychology bachelor degree programme. The methodological approach has been action research, with data gathered for the first phase based on e-observation in seven tutoring virtual cubicles, in order to document and evaluate the experience throughout a specific generation. Based on the results, changes and improvements are proposed for the tutoring spaces, resources and process.

This guest-edited issue of JSAA focuses on tutoring and mentoring and draws in parts on papers that were presented at the 2016 joint conference of the International Consortium for Educational Development (ICED) and the Higher Education Learning and Teaching Association of Southern Africa (HELTASA). Well-planned and implemented tutoring and mentoring programmes provide an effective means to support students to successfully navigate their academic, co-and extra-curricular lives. In the higher education context, tutoring can be defined as curricular and supplemental assistance provided to students by more senior students, academic development practitioners and other learning facilitators, to gain proficiency in basic and more advanced academic skills as well as learning support in relation to specific discipline-related learning materials and learning and assessment tasks. It typically involves breaking up large classes into smaller groups, which enhances the potential of effective participation of students, closer peer relations and staff-student relations, deep learning and student engagement. Mentoring, in turn, traditionally involves a one-to-one relationship, but it may also take place within a group context, or within cohort mentoring situations, between a more senior mentor and a younger student mentee, whereby the role of the mentor is to provide individualised guidance and support, even if this occurs within a group or cohort setting. Scholarly literature on tutoring and mentoring indicates the various cognitive and affective benefits that tutoring and mentoring have particularly for students from academically disadvantaged backgrounds (Powell, 1997). Thus, the methodologies of tutoring and mentoring are not only important programmatic interventions into students' academic, personal and social development; they also provide successful models for student development even in the core functions of Student Affairs.

L'avènement de l'industrie 4.0 introduit un ensemble de technologies d’information et de communication (TIC) qui permettent de distribuer le traitement de l’information et de décentraliser la prise de décision sur plusieurs entités autonomes et intelligentes tel que : les ressources de production, les opérateurs et les produits. Par conséquent les systèmes industriels deviennent de plus en plus complexes. Cette complexité pousse les industriels à concevoir et développer de nouvelles architectures de pilotage distribuées, plus flexibles et agiles faces aux perturbations. Pour y arriver les industriels sont contraints de passer par la phase de simulation qui leurs permet d'évaluer, tester et valider ces nouvelles architectures sans aucun risque. Dans la littérature en langue Française, on constate un manque de tutoriels pour apprendre à utiliser le logiciel de simulation FlexSim. L'objectif de cet article est de présenter un tel tutoriel pour introduire les principes de fonctionnement de FlexSim à travers une étude de cas de pilotage distribué où les produits jouent un rôle actif par leur capacité à prendre des décisions basées sur le mécanisme décisionnel Analytic Hierarchy Process (AHP).

This brief tutorial is specifically written to assist the beginner users of STM32 boards in order to learn the fundamentals of how to activate and work with the (Digital-to-Analog Converter) DAC module. It is intended to show the different methods of using the DAC module on the STM32 boards with application to signal generation for system identification purposes. In this tutorial you will learn how to: 1) Download the STM32 software packages, 2) Compile ARM CMSIS 4.5.0 DSP library in STM32CubeIDE, 3) Configure and utilize TIM / DAC / GPIO modules of the microcontroller, 4) Generate different wave forms for system identification applications, 5) Program NUCLEO-F746ZG in STM32CubeIDE using C programming language, 6) Excite the dynamics of a mechatronics system using the developed algorithms.

The objective of this experiment was to simulate the backward-facing step (BFS) using ANSYS FLUENT. The intention of this paper is to assist one who is new to ANSYS FLUENT set up a simulation of the backward-facing step. This paper is very reliant on an article titled “Assessment of particle-tracking models for dispersed particle-laden flows” for both the assumed value of the numerous parameters and the comparison between the results of the experiment.

Disini saya berbagi langkah-langkah bagaimana instalasi Debian 5 di VMWare 11, untuk lebih lengkapnya silahkan Anda bisa kunjungi blog saya:
http://siopatbelas.blogspot.com
atau Anda juga bisa kunjungi Jasa Web Design Saya:
http://opatbelas.web.id

Resumen: El texto reflexiona en torno al video Tutorial para chat gay de 2010. Se analiza el concepto de " ciberformance " o performance cibernética con que fue conceptualizado originalmente. Además, se problematiza el sistema de grabación utilizado para concebir el video, la técnica de Screencast o video de pantalla como un tipo de medio o género audiovisual. Más adelante se reflexiona sobre las diferentes tecnologías de cruising gay y finalmente se aborda la cuestión de la pedagogía homosexual.

Resumo: O texto reflete sobre o vídeo Tutorial para chat gay (2010). Analisa-se o conceito de " cyberformance " ou performance cibernética com o qual foi originalmente conceituado. Além disso, o sistema de gravação utilizado para conceber o vídeo, a técnica de Screencast ou o vídeo de tela como um tipo de meio ou gênero audiovisual é problematizado. Mais tarde, refletimos sobre as diferentes tecnologias de cruising gay e, finalmente, a questão da pedagogia homossexual é abordada.

Abstract: This text analyzes the concept of " cyberformance " or cybernetic performance, as used initially to define the video Tutorial para chat gay (2010). Then, it problematizes the recording system used to conceive the video, as well as the Screencast technique or screen video, as an audiovisual genre. Subsequently, it reflects on the different gay cruising technologies shown, and it concludes by addressing the issue of homosexual pedagogy.

Los estudios universitarios no solamente significan para los jóvenes contemporáneos un proceso o etapa de formación profesional, sino también, un momento en sus vidas que les presentan diferentes retos que les exigen desarrollar competencias, tanto disciplinares, como sociales y personales. Lamentablemente, si el joven no consigue superar esta prueba, los problemas que trae consigo esta etapa lo superaran, eslabonándose en situaciones que sencillamente se verá incapaz de afrontar. Por ello, las universidades deben ver por herramientas pedagógicas que no solo vean por el desarrollo académico de sus estudiantes, sino también por la adopción de competencias de afrontamiento que les permitan mejorar como personas. El presente artículo, busca hacer una aproximación al mentoring, como posible herramienta de acompañamiento que de manera indirecta puede reducir la deserción escolar al mejorar la experiencia de aprendizaje de los estudiantes universitarios.

Kualitas proses belajar seringkali diakselerasi dengan adanya evaluasi terhadap setiap orang yang terlibat di dalamnnya. Pada sebagian besar proses belajar di perguruan tinggi di Indonesia, mahasiswa menjalani evaluasi belajar, tapi dosennya tidak, sehingga perbaikan proses belajar tidak berlangsung seperti yang diharapkan. Fakultas Kedokteran Universitas Syiah Kuala yang baru saja memilih metode Problem-Based Learning (PBL) untuk menerapkan Kurikulum Berbasis Kompelensi melaksanakan evaluasi kepada setiap individu yang terlibat dalam proses belajar, termasuk mahasiswa maupun dosen.  Pada metode PBL diskusi totorial menjadi bentuk belajar yang paling spesifik dimana kemampuan dosen sebagai tutor memegang peranan yang sangat penting dan berpengaruh. Salah satu cara mengukur sejauh mana kemampuan tutor adalah dengan melode Student Rating atau penilaian mahasiswa. Penulis menggunakan 2 cara yaitu secara kuantitatif melalui kuesioner dengan skala 4 (4 scale GPA) yaitu juga disebut "indeks prestasi tutor" dan secara kualitatif dengan metode Focus Group Discussion(FGD). Tulisan ini membahas tentang penilaian mahasiswa terhadap tutor mereka selama blok 4 The Cell tahun ajaran 2007/2008 yang berlangsung dari bulan Februari-Maret 2008. Dari kuesioner yang menanyakan 7 kemampuan tutor didapatkan bahwa indeks prestasi(lP) tutor rata-rata pada blok 4 The Cell rnencapai 3,17. IP tutor tertinggi adalah 3,85 dan yang terendah adalah 2,5. Kemampuan tutor tertinggi adalal kemampuan rnenciptakan suasana yang menunjang bagi diskusi (aspek kemampuan ke-1) dengan nilai rata-rata 3,36. Sedangkan kemampuan terendah adalah kemampuan membahas perkembangan terbaru/pengalamannya terkait skenario (aspek kemampuan ke-3) dengan IP tutor rata-rata 2,88. Dari FGD diketahui bahwa lP tutor tertinggi dicapai ketika tutor mampu mengarahkan mahasiswa tanpa harus memberi komentar panjang. IP terendah didapatkan karena tutor tertidur selama diskusi atau terlalu sering menjawab panggilan telepon selular (JXS 2008; 8:3)
Kata kunci: Evaluasi program, kemampuan tutor, indeks prestasi tutor.

Abstract. Leaming process quality is accelerated by evaluation of the stakeholders. Most of previous Ieaming process in Indonesia's higher education students were evaluated.  However, the teacher were not. This make leaming process were not be able to be improved. Faculty of Medicine of Syial Kuala University made a new step by implementing Problem-based Learning(PBL) and made evaluations on every stakeholders involved, both students and teachers.

En un estudio comparativo entre organismos e instituciones que se dedican a la educación a distancia se identificaron las características, funciones y competencias que debe tener un profesor que trabaja en programas de nivel superior en el Instituto Politécnico Nacional y realice funciones tutoriales por medio de las tecnologías de la información y la comunicación. Para la selección de estos tres aspectos recuperados de las diversas propuestas, y que se integraron en un modelo, se tomó como referencia el modelo educativo vigente en el instituto. Entre los elementos que identifican a este docente se tienen: los requisitos laborales, la formación académica, los atributos personales, las actividades académicas y las acciones tutoriales; asimismo, desarrolla funciones pedagógicas, de actualización, interacción, retroalimentación y apoyo, evaluación e investigación. Las competencias adecuadas son de tipo cognitivas, pedagógicas, interpersonal, técnicas y de investigación.

Este trabalho procura dar um exemplo de programação em assembly, utilizando um microprocessador 8085 num kit EMAC primer.
O objetivo é fazer com que um altifalante piezoelétrico produza um som harmónico que se assemelhe a notas e com isso tocar uma melodia. Para complemento foram também utilizados os 8 leds do kit para visualizar a respetiva nota.

With the Arduino Ethernet Shield, this library allows an Arduino board to connect to the internet. It can serve as either a server accepting incoming connections or a client making outgoing ones. The library supports up to four concurrent connection (incoming or outgoing or a combination).

No Mundo em que vivemos em que os recursos energéticos são fundamentais para a sustentação e desenvolvimento contínuo existente, também os custos de produção dessa energia devem ser explorados. Custos estes, que devem contemplar não só os financeiros, mas também o impacto ambiental existente pois essa será uma “factura” que mais tarde ou mais cedo terá de ser paga por todos. Neste “leque” de fontes de energia (vectores de energia) altamente poluentes encontram-se os derivados do petróleo, largamente utilizados em todas as economias e por todos nós no nosso dia-a-dia.
Na pesquisa por formas de energia mais eficientes e menos poluentes surgem as chamadas energias renováveis, que englobam: a energia eólica, solar, hidroeléctrica, bioenergia, geotermal, entre outras existentes. Como é óbvio existem vantagens e desvantagens em todas elas, não existindo no presente (existe sempre essa esperança, e devemos sempre tentar a sua evolução) a fonte de energia perfeita.
Com a evolução existente, em que cada vez existe uma necessidade maior de energia para sustentar as necessidades existentes é fundamental assim juntar sinergias para poder encontrar uma fonte de energia eficiente, pouco poluente e ilimitada (ao contrário p.ex. do petróleo – crude) e é aqui que se encaixam p.ex. as células de combustível (Fuel Cell). São células que possuem como entrada um agente redutor (combustível) e um agente oxidante (Comburente), e têm como saída energia eléctrica. Estas células podem utilizar uma série de combustíveis para gerar energia como p.ex. Hidrogénio, Metanol, materiais derivadas de biomassa, entre outros.
Na implementação prática específica vai ser abordada a geração de hidrogénio (e por acréscimo oxigénio) utilizando um Kit de Hidrogénio para testes da Heliocentris (hydro-Genius™ Professional), do tipo PEMFC (Proton Exchange Membrane Fuel Cell) cujas características e funcionamento vão ser abordados ao longo dos relatórios que vão ser elaborados. Neste relatório procura-se explicar a geração de hidrogénio, recorrendo a electrolisadores referindo assim alguns tipos existentes (abordados os mais relevantes), o seu princípio de funcionamento e as vantagens e desvantagens apresentadas.
Importa também referir, e que por vezes não é do conhecimento geral, que as células de combustível já são conhecidas há cerca de 150 anos (como descrito na Figura 1), sendo exploradas inicialmente em 1800 e tendo as suas evoluções na segunda metade do século XX (maioritariamente devido à evolução tecnológica existente).

Modul ini merupakan bahan pelatihan Sistem Informasi Geografis tingkat dasar menggunakan software GIS open source yakni Quantum GIS Tethys (1.5.0) yang dikemas secara sederhana dan praktis, sehingga pengguna dapat mengembangkannya sendiri sesuai dengan kebutuhan. Modul ini merupakan pengembangan dari beberapa bahan dan materi yang sudah ada dan disesuaikan dengan kebutuhan pelatihan SIG berbasis open source.
Modul pelatihan SIG dasar kali ini dimulai dengan persiapan data input yakni georeferencing peta hasil scan, pembuatan layer, tahap digitasi on screen, editing data spasial dan atribut, simbolisasi, analisis spasial (overlay/tumpangsusun) hingga tahapan output berupa layout peta sederhana.