This dissertation focuses on applying artificial intelligence techniques to human-robot interaction, which involves human pose estimation and dual-arm robotic manipulation. The motivating application behind this work is autonomous victim extraction in disaster scenarios using a conceptual design of a Semi-Autonomous Victim Extraction Robot (SAVER). SAVER is equipped with an advanced sensing system and two powerful robotic manipulators as well as a head and neck stabilization system to achieve autonomous safe and effective victim extraction, thereby reducing the potential risk to field medical providers. This dissertation formulates the autonomous victim extraction process using a dual-arm robotic manipulation system for human-robot interaction. According to the general process of Human-Robot Interaction (HRI), which includes perception, control, and decision-making, this research applies machine learning techniques to human pose estimation, robotic manipulator modeling, and dual-arm robotic manipulation, respectively. In the human pose estimation, an efficient parallel ensemble-based neural network is developed to provide real-time human pose estimation on 2D RGB images. A 13-limb, 14-joint skeleton model is used in this perception neural network and each ensemble of the neural network is designed for a specific limb detection. The parallel structure poses two main benefits: (1) parallel ensembles architecture and multiple Graphics Processing Units (GPU) make distributed computation possible, and (2) each individual ensemble can be deployed independently, making the processing more efficient when the detection of only some specific limbs is needed for the tasks. Precise robotic manipulator modeling benefits from the simplicity of the controller design and improves the performance of trajectory following. Traditional system modeling relies on first principles, simplifying assumptions and prior knowledge. Any imperfection in the above could lead to an analytical model that is different from the real system. Machine learning techniques have been applied in this field to pursue faster computation and more accurate estimation. However, a large dataset is always needed for these techniques, while obtaining the data from the real system could be costly in terms of both time and maintenance. In this research, a series of different Generative Adversarial Networks (GANs) are proposed to efficiently identify inverse kinematics and inverse dynamics of the robotic manipulators. One four-Degree-of-Freedom (DOF) robotic manipulator and one six-DOF robotic manipulator are used with different sizes of the dataset to evaluate the performance of the proposed GANs. The general methods can also be adapted to other systems, whose dataset is limited using general machine learning techniques. In dual-arm robotic manipulation, basic behaviors such as reaching, pushing objects, and picking objects up are learned using Reinforcement Learning. A Teacher-Student advising framework is proposed to learn a single neural network to control dual-arm robotic manipulators with previous knowledge of controlling a single robotic manipulator. Simulation and experimental results present the efficiency of the proposed framework compared to the learning process from scratch. Another concern in robotic manipulation is safety constraints. A variable-reward hierarchical reinforcement learning framework is proposed to solve sparse reward and tasks with constraints. A task of picking up and placing two objects to target positions while keeping them in a fixed distance within a threshold is used to evaluate the performance of the proposed method. Comparisons to other state-of-the-art methods are also presented. Finally, all the three proposed components are integrated as a single system. Experimental evaluation with a full-size manikin was performed to validate the concept of applying artificial intelligence techniques to autonomous victim extraction using a dual-arm robotic manipulation system. / Doctor of Philosophy / Using mobile robots for autonomous victim extraction in disaster scenarios reduces the potential risk to field medical providers. This dissertation focuses on applying artificial intelligence techniques to this human-robot interaction task involving pose estimation and dual-arm manipulation for victim extraction. This work is based on a design of a Semi-Autonomous Victim Extraction Robot (SAVER). SAVER is equipped with an advanced sensing system and two powerful robotic manipulators as well as a head and neck stabilization system attached on an embedded declining stretcher to achieve autonomous safe and effective victim extraction. Therefore, the overall research in this dissertation addresses: human pose estimation, robotic manipulator modeling, and dual-arm robotic manipulation for human pose adjustment. To accurately estimate the human pose for real-time applications, the dissertation proposes a neural network that could take advantages of multiple Graphics Processing Units (GPU). Considering the cost in data collection, the dissertation proposed novel machine learning techniques to obtain the inverse dynamic model and the inverse kinematic model of the robotic manipulators using limited collected data. Applying safety constraints is another requirement when robots interacts with humans. This dissertation proposes reinforcement learning techniques to efficiently train a dual-arm manipulation system not only to perform the basic behaviors, such as reaching, pushing objects and picking up and placing objects, but also to take safety constraints into consideration in performing tasks. Finally, the three components mentioned above are integrated together as a complete system. Experimental validation and results are discussed at the end of this dissertation.

Submitted in partial compliance with the requirements for the Master’s Degree in Technology: Chiropractic, Department of Chiropractic, Durban University of Technology, Durban, South Africa, 2015. / Background: The most common shoulder complaint seen by physicians is shoulder impingement syndrome. There has been limited success with the current conservative treatment that has been provided for this condition. Thoracic spine and rib manipulation is purported to aid in the treatment of this condition; however there is a paucity of controlled investigations. The purpose of this study was to determine the short term efficacy of thoracic and prone rib manipulation on shoulder impingement syndrome. Methods: A randomised, placebo controlled pre-test post-test experimental design was used. Informed consent was obtained and 30 participants were recruited according to inclusion criteria and allocated to either a placebo or intervention group. Intervention consisted of thoracic spinal and rib manipulation. Data was collected, pre and post the first treatment and at a 48 hours follow up. SPSS was used to analyse the data with a p value of 0.05. Results: No statistically significant differences were seen between the groups for pain rating, range of motion of the glenohumeral joint, lateral scapula slide test or scapula isometric pinch test. The shoulder pain and disability index (SPADI) showed significant (p = 0.04) differences between the groups in terms of disability scores, with the intervention group having a great improvement in disability. No clinically significant differences were observed between the groups. Conclusion: Thoracic spine and rib manipulation appears to improve the disability associated with shoulder impingement syndrome, however further research is required with a larger sample size.

管理當局與利害關係人(stakeholders)之間，透過會計資訊的提供，可降低代理問題及資訊不對稱。惟會計資訊的提供，依管理當局介入的程度不同，會有層次上的差別。 本文即從層次開始，界定了盈餘管理(Earnings Management)與盈餘操縱(Earnings Manipulation)的不同，而透過營運政策中的營業活動(operational activities)來影響盈餘的方式地處兩者之間的灰色地帶，目前至今尚少討論。Roychowdhury(2006)則以美國市場為對象，首開先例發展了如何偵測公司透過營業活動的實質盈餘管理行為。 本文同樣選定避免報導損失為盈餘門檻，考量台灣市場的特性後，偵測台灣企業是否有真實營業活動的盈餘管行為。實證結果顯示，無論是透過銷貨操縱、降低裁決性支出還是過量生產以降低銷貨成本的實質交易操作，都得到顯著地支持。進一步分析那些特性的企業，較容易透過真實營業相關的活動來從事盈餘管理行為時發現，債務契約壓力高、成長性機會高及利害關係人緊密度高者符合預期，而製造業性質則與預期相反，盈餘管理彈性則未得到支持。另外在機構投資人持股方面，則發現高機構投資人持股可降低過量生產實質交易操作的可能，但未能有效防止降低裁決性支出的操作。 / Through providing accounting information for stakeholders , management could somewhat reduce agency problem and information asymmetry.But accounting information quality could be different depending on how management intervene in . This article begins from distinguishing between Earnings Management and Earnings Manipulation.To intervene in business policy through real operational activities is not only one way that is hard to categorize in Earnings Management or Earnings Manipulation but also receives little attention to date. Roychowdhury(2006), taking American market as observation values,was the first one who developed how to detect real operational activities earnings management. Following Roychowdhury(2006),I define avoiding reporting loss as earnings threshold to detect whether real operational activities earnings management exists in Taiwan business.There is obvious evidence suggesting sales manipulation、reduction of discretionary expenditures and overproduction to report lower cost of goods sold to improve reported margins.To go a step further,I test observation values of what characters are inclined to manipulate earnings through real operational activities. I find supporting evidence in observation values with higher debt stress、higher growth opportunity、higher connection with stakeholders and samples on non manufacturing industry.But I find no evidence in observation values with higer earnings management elasticity.In addition,I find observation values with higher instutional holding shares could abate the possibilities of overproduction to report lower cost of goods sold,but fail to avoid the manipulation of reduction of discretionary expenditures.

Magistrinio darbo objektas – manipuliacijos metodai. Darbo tikslas – identifikuoti ir aprašyti manipuliacijos metodų naudojimą televizijos debatuose, skirtuose 2009 metų Lietuvos Respublikos prezidento rinkimams. Darbo uždaviniai: • išanalizuoti, susisteminti ir aprašyti įvairių autorių išskirtus manipuliacijos metodus, suformuluoti jų apibrėžimus, išskirti indikacijas ir pateikti pavyzdžius; • identifikuoti manipuliacijos metodus, kuriuos panaudojo kandidatai į prezidentus, Lietuvos Respublikos prezidento rinkimams 2009 skirtose televizijos debatų laidose, apibendrinti ir pateikti jų naudojimo tendencijas. Išanalizavus įvairių autorių apibrėžimus apie manipuliaciją, galima teigti, kad manipuliacija naudojama kaip psichologinio poveikio priemonė, siekiant atimti iš žmogaus galimybę savarankiškai priimti sprendimą. Išnagrinėjus įvairių autorių pateiktus aprašymus apie manipuliacijos metodus, naudojant lyginamąjį metodą, pagal panašius bruožus buvo atrinkti ir sugrupuoti skirtingų autorių aprašymai apie tą patį metodą. Taikant dedukcijos metodą, buvo išskirti kiekvienos manipuliacijos metodų grupės esminiai požymiai ir suformuluoti jų apibrėžimai bei išskirtos indikacijos. Apžvelgus įvairių autorių mintis apie politinę komunikaciją, pateikiamos išvados, kad politinėje komunikacijoje labai svarbią vietą užima rinkimai. Kiekvieni rinkimai tampa nauju politikų ir rinkėjų tarpusavio aiškinimosi aktu, o manipuliacija yra pagrindinė priemonė, naudojama rinkiminėje kovoje. Mūsų... [toliau žr. visą tekstą] / The object of the MA paper is manipulation methods. The aim is to identify and describe the use of manipulation methods in the TV debates on the Lithuanian presidential election held in 2009. The goals are: • To analyze, systemize and describe manipulation methods distinguished by various authors, give the definitions, distinguish indications and give examples; • To identify and summarize the use of the manipulation methods in the TV debates on the Lithuanian presidential election in 2009 and adduce the tendencies of the methods used. Having analyzed the definitions of manipulation given by various authors, it can be claimed that manipulation is used as a measure of psychological impact in order to preclude a person from an independent decision making. Having studied the descriptions of manipulation methods by various authors using the comparative method, the descriptions of the same methods by various authors have been selected and grouped under similar features. Using the deductive method the key features of every manipulation method group have been pointed out, their descriptions have been formulated and indications have been distinguished. Having reviewed various authors’ ideas about political communication, the conclusions that election plays an important role in the political communication have been made. Every election becomes a feud between politicians and electors and manipulation is the main measure used in the election fight. Our opinions, attitudes and beliefs are... [to full text]

Les concepts d’écosystèmes et de communautés sont centraux aux explications en écologie ainsi qu’à plusieurs débats environnementaux. Cependant, depuis l’introduction de ces concepts, leur statut ontologique est controversé (c'est-à-dire un écosystème a-t-il une existence à part entière au-delà de l’existence de ses parties constituantes?). Alors que certains favorisent une interprétation épistémique de ces concepts, d’autres défendent plutôt que ces unités écologiques fassent partie intégrante du monde naturel. Dans le cadre de ce mémoire, j’argumente que la meilleure manière d’appréhender cette question ontologique est de comprendre que les communautés ainsi que les écosystèmes sont des mécanismes. Plus précisément, je propose que les écosystèmes et les communautés soient des ensembles d’entités et d’activités organisés de manière à exhiber de manière régulière des phénomènes précis. Les entités sont les composantes de ces mécanismes (ex : espèce, niche écologique) alors que les activités sont les relations causales produisant des changements (ex : photosynthèse, prédation). Finalement, les phénomènes que ces mécanismes produisent sont les propriétés émergentes propres au niveau d’organisation des communautés et des écosystèmes (ex. : pH, Biomasse). En utilisant l’approche manipulationniste développée par James Woodward (2003, 2004, 2010), j’argumente qu’il est possible d’identifier les composantes causales des écosystèmes et des communautés ainsi que leurs relations. Puisqu’il est possible de manipuler empiriquement et de manière contrefactuelle de différentes manières les communautés et les écosystèmes (Penn 2003; Swenson et Wilson 2000), je conclus que nous pouvons affirmer de manière robuste (Wimsatt 2007) que ces entités existent réellement. / The concepts of ecosystem and community are central to ecological explanations. However, since the introduction of these concepts, their ontological status is controversial. Taking as a starting point the mechanistic explanatory theories in philosophy of science, I argue that ecosystems and communities are mechanisms. More precisely, I suggest that they are entities and activities organized in such a way as to exhibit regular and precise phenomenons (Machamer, Darden, Craver 2000). While entities are the components of the mechanisms (ex: species, ecological niche), activities are the causal relations that produce changes (ex: photosynthesis, predation). Finally, the interaction of the entities and the activities produce emerging properties that are unique to the community and ecosystem level (ex: pH, biomass). By using the manipulationniste theory of Woodward (2003) and the experimental results of Swenson and Wilson (2000), I argue that it is possible to identify the causal components of the ecosystems and communities and their relations to one another. Since it is possible to manipulate empirically and counterfactually ecosystems and communities, I conclude that they are real entities.

L’expression du phénotype des organismes dépend en partie d’organismes symbiotiques avec qui ils sont en interaction étroite. Selon le mode de transmission du symbiote, ce dernier va être en conflit d’intérêt plus ou moins intense avec l’hôte pour l’expression du phénotype, conduisant parfois le symbiote à évoluer vers la manipulation du phénotype de l’hôte. Nous avons tenté d’identifier différents facteurs génétiques et environnementaux influençant l’expression et l’évolution de la manipulation chez l’insecte parasitoïde de larves de drosophiles, Leptopilina boulardi, et son virus manipulateur du comportement, LbFV. Ce virus bénéficie d’une transmission mixte, verticale et horizontale, cette dernière étant favorisée par l’induction de superparasitisme induite par le virus. L’étude de la contribution du génotype du parasitoïde dans l’expression de la manipulation a révélé la présence de gènes de résistance partielle à la manipulation. Le potentiel évolutif de cette résistance a ensuite été évalué par des expériences d’évolution expérimentale. Nous avons également montré que LbFV augmente la virulence du parasitoïde envers les larves de drosophiles, révélant ainsi une évolution vers une forme de mutualisme sur ce trait. Par ailleurs, le travail montre qu’un même parasitoïde peut être non seulement infecté par plusieurs souches du virus LbFV mais également infecté par un virus à ARN, décrit pour la première fois dans cette thèse. La transmission verticale, la prévalence élevée et les forts effets phénotypiques de ce virus soulignent de nouveau l’importance des virus dans l’expression du phénotype en population naturelle. / The expression of the phenotype of an individual depends partly on the presence of symbiotic organisms with which it engages in intimate interactions. According to the symbiont’s mode of transmission, the conflict of interest between the host and its symbiont for the expression of the phenotype can be more or less stronger, sometimes leading to the evolution of manipulation of the host phenotype by the symbiont. We attempted to identify different genetic and environmental factors influencing the expression and the evolution of manipulation in the Drosophila parasitoid wasp, Leptopilina boulardi, and its behavior manipulating virus, LbFV. The virus undergoes both vertical and horizontal transmission, the latter being favoured by the induction of superparasitism behaviour by the virus. The study of the contribution of the parasitoid genotype to the expression of the manipulation revealed a polymorphism in the resistance to the manipulation. The evolutionary potential of this resistance was then investigated using a protocol of experimental evolution. We also demonstrated that LbFV increases the virulence of the parasitoid towards its Drosophila host, revealing a form of mutualistic interaction on this trait. Additionally, we showed that an individual parasitoid can be coinfected by several LbFV strains but also by an RNA virus, described for the first time in this thesis. The vertical transmission, the high prevalence and the strong phenotypic effects of this new virus further highlights the importance of viruses in the expression of the phenotype in natural populations.

Cette thèse porte sur la réalisation des tâches avec la locomotion sur des robots humanoïdes. Grâce à leurs nombreux degrés de liberté, ces robots possèdent un très haut niveau de redondance. D’autre part, les humanoïdes sont sous-actionnés dans le sens où la position et l’orientation ne sont pas directement contrôlées par un moteur. Ces deux aspects, le plus souvent étudiés séparément dans la littérature, sont envisagés ici dans un même cadre. En outre, la génération d’un mouvement complexe impliquant à la fois des tâches de manipulation et de locomotion, étudiée habituellement sous l’angle de la planification de mouvement, est abordée ici dans sa composante réactivité temps réel. En divisant le processus d’optimisation en deux étapes, un contrôleur basé sur la notion de pile de tâches permet l’adaptation temps réel des empreintes de pas planifiées dans la première étape. Un module de perception est également conçu pour créer une boucle fermée de perception-décision-action. Cette architecture combinant planification et réactivité est validée sur le robot HRP-2. Deux classes d’expériences sont menées. Dans un cas, le robot doit saisir un objet éloigné, posé sur une table ou sur le sol. Dans l’autre, le robot doit franchir un obstacle. Dans les deux cas, les condition d’exécution sont mises à jour en temps réel pour faire face à la dynamique de l’environnement : changement de position de l’objet à saisir ou de l’obstacle à franchir. / This thesis focuses on realization of tasks with locomotion on humanoid robots. Thanks to their numerous degrees of freedom, humanoid robots possess a very high level of redundancy. On the other hand, humanoids are underactuated in the sense that the position and orientation of the base are not directly controlled by any motor. These two aspects, usually studied separately in manipulation and locomotion research, are unified in a same framework in this thesis and are resolved as one unique problem. Moreover, the generation of a complex movement involving both tasks and footsteps is also improved becomes reactive. By dividing the optimization process into appropriate stages and by feeding directly the intermediate result to a task-based controller, footsteps can be calculated and adapted in real-time to deal with changes in the environment. A perception module is also developed to build a closed perception-decision-action loop. This architecture combining motion planning and reactivity validated on the HRP-2 robot. Two classes of experiments are carried out. In one case the robot has to grasp an object far away at different height level. In the other, the robot has to step over an object on the floor. In both cases, the execution conditions are updated in real-time to deal with the dynamics of the environment: changes in position of the target to be caught or of the obstacle to be stepped over.

Le “coût de la reproduction” est un concept qui définit qu’un investissement à la reproduction élevé a un prix qui se paye ultérieurement par une accélération de la sénescence. Cela peut notamment traduire des compromis entre la reproduction et d’autres fonctions physiologiques comme la défense antioxydante. Chez l’huître creuse Crassostrea gigas, la reproduction représente une fonction physiologique majeure. Dans le cadre des études effectuées pour comprendre les mortalités estivales affectant cette espèce, une corrélation négative entre effort reproducteur et survie a été observée. D’autre part, des gènes antioxydants ont été mis en évidence comme différentiellement exprimés entre les lignées d’huîtres sélectionnées pour leur résistance ou leur sensibilité aux mortalités estivales. Certaines études proposent que la susceptibilité au stress oxydant puisse représenter un coût de la reproduction participant au processus de sénescence. Dans ce contexte, nous avons analysé la capacité antioxydante des huîtres en fonction de leur investissement reproducteur. Pour cela, la technique d’ARN interférence a été utilisée pour manipuler l’effort reproducteur des huîtres. L’expression des principales enzymes antioxydantes (taux de transcrits et activités enzymatiques) et le dosage de dommages oxydatifs ont ensuite été mesurés dans différents tissus et cellules de l’organisme (branchies, gonade, hémocytes et gamètes). Les résultats obtenus dans le cadre de cette thèse suggèrent que la capacité antioxydante de C. gigas est particulièrement efficace et que la reproduction seule n’est pas suffisante pour induire un stress oxydant. Cette capacité antioxydante apparaît comme tissu-spécifique voire cellule-spécifique et le métabolisme du glutathion semble jouer un rôle majeur dans cette protection. Cette grande résistance au stress oxydant contribuerait à faire de C. gigas une espèce particulièrement adaptée à la vie dans des environnements stressants. / The “cost of reproduction” is a concept defining that a high reproductive investment has a price that is paid later by an acceleration of senescence. That may translate tradeoff between reproduction and other physiological functions such as antioxidant defense. In the Pacific oyster Crassostrea gigas, reproduction is a major physiological function. In a study led to understand the summer mortalities affecting this species, a negative correlation between reproductive effort and survival was observed. Moreover, some antioxidant genes were identified as differentially expressed between lines of oysters selected for resistance or susceptibility to summer mortalities. Some studies suggest that the susceptibility to oxidative stress may represent a cost of reproduction taking part to the process of senescence. In this context, we analyzed the antioxidant capacity of oysters according to their reproductive investment. For this, the technique of RNA interference was used to manipulate the reproductive effort of oysters. The expression of the main antioxidant enzymes (transcript levels and enzyme activities) and the dosage of oxidative damages were then measured in different tissues and cells of the organism (gills, gonad, hemocytes and gametes). The results obtained in this thesis suggest that the antioxidant capacity of C. gigas is particularly effective and that reproduction alone is not sufficient to induce oxidative stress. This antioxidant capacity appears to be tissue-specific even cell-specific and glutathione metabolism would to play a major role in this protection. This resistance to oxidative stress would make C. gigas be a species particularly adapted to life in stressful environments.

The theme of this diploma thesis is the manipulation in literature as a dialog between the I and the You or the I and the It. This I has a different position in each of the two types of manipulation. In the first type the I is the subject of manipulation - that is a manipulator. In the second one the I becomes the object of manipulation - thus a victim of a manipulator because the power over the I has been overtaken by other character's consciousness. The I and the You type is represented by an outside dialog (between characters), whereas the I and the It type is demonstrated in an inside dialog which does not occur between the hero and another character but between the hero and a voice of other character's consciousness. The opening part which deals with the manipulation in different contexts (philosophical, political and psychological) is followed by a part where I interpret the manipulation's representation in literature, especially in the works of Dostojevskij (The Double, The Village of Stepanchikovo, Notes from Underground, The Eternal Husband). With the characters of this author we can view the dark side of the human mind and also have a close look at various forms of arbitrariness, especially at the manipulation with the others.

M.Tech. / Purpose: This randomised, controlled, comparative pilot study was undertaken in order to investigate the effectiveness of the chiropractic manipulation alone, the chiropractic manipulation followed by heat therapy or the chiropractic manipulation followed by cryotherapy in the treatment of cervical facet syndrome. It was hypothesised that all three treatment protocols would be effective, but that applying chiropractic manipulation followed by heat therapy would be the most effective protocol in the treatment of cervical facet syndrome. Method: Forty-five participants were recruited by means of advertisements posted around the University of Johannesburg Doornfontein campus and surrounding businesses. Only those participants who conformed to the inclusion criteria were accepted to form a part of the study. The forty-five participants were randomly placed into three groups of fifteen each. Procedure: Group 1 received chiropractic manipulation only as their treatment protocol. Group 2 received chiropractic manipulation followed by heat therapy as their treatment protocol and group 3 received chiropractic manipulation followed by cryotherapy as their treatment protocol. Each participant received six treatments over a two week period and attended a follow-up consultation in the third week. The follow-up consultation was used to assess the lasting effects of the treatment protocol. Results: The objective data in the form of cervical range of motion was obtained by means of the Cervical Range of Motion instrument. The subjective data was collected by means of the Vernon-Mior Neck Pain and Disability Index and the Numerical Pain Rating Scale. At the end of the trial, statistical analysis was performed to determine whether one treatment protocol was more effective compared to the other treatment protocols. The results indicated that group 2 (Chiropractic manipulation followed by heat therapy) proved to be the most effective treatment protocol. Although the other treatment protocol as well as the control group showed good objective results. Subjective results showed that although all three groups showed statistically significant results, group 2 showed the best results. Thus it is noted that in order to achieve a potentially lasting increase in range of motion and a decrease in pain and disability, the treatment protocol used for group 2 should be the treatment of choice. Conclusion: Trends indicate the most effective treatment protocol in the treatment of cervical facet syndrome is when chiropractic manipulation is followed by heat therapy. The advantage of this combination is that each treatment modality is used to its full potential, thereby providing the patient with the best results in terms of lasting benefits.