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Modeling and learning control system design for robots using deep learning techniques
Get PDFIn recent years, research and development in artificial intelligence dramatically impacted fields
like health care, agriculture, and manufacturing. In the robotics field, innovation such as
recognition, interaction, and manipulation made a breakthrough in "How a robot can help to
improve the quality of human life?". Deep learning for real-time applications became viable as
computer power and data became more readily available. In the past classical methods of modeling
such as Euler-Lagrange method widley have been used to construct accurate dynamic model of
the robots, but due to the uncertainty in the parameters and external disturbances, the accurate and
generalized analytical model is too complex to build. On the other hand, deep learning algorithms
are general non-linear modelling techniques that can learn from input-output data, making them a
good choice for modelling and model-based control system design for robots. In this research,
recurrent neural network techniques such as Long Short-Term Memory (LSTM) and Gated
Recurrent Unit (GRU) are adopted to overcome the issues of modelling. Then, by effectively
combining adaptive sliding mode controller (ASMC) with the deep-learning-based (LSTM-based)
inverse dynamic model of the robot a model-based control can be developed. . The deep-learningbased controller is applied for trajectory tracking on various scenarios to verify the effectiveness
of this approach. The primary strategy of designing a controller with a deep recurrent neural
network is to benefit from its memory, resulting in better generalization, accuracy enhancement,
and better estimation of time-varying parameters and disturbances. The simulation and
experimental findings show that the suggested controller operates adequately on unknown
trajectories and disturbances even without tuning settings.Master of Science (MSc) in Computational Science
The architecture of Ontario Place: reinvigorating the commons through adaptive-reuse and operative landscapes
No full textOntario Place, located in Lake Ontario along Toronto’s shoreline, was always
meant to be for the public.
In its current conditions, the ongoing neglect by the
Government of Ontario for the last several years, has led to the degradation and
disrepair of many of the structures and landscape of the site. How can Ontario
Place be reimagined as a commons for the city of Toronto and the province
of Ontario to experience and celebrate the waterfront? The islands of Ontario
Place are reimagined through the lens of nested scales of intervention ranging
from the Great Lakes watershed, to the city of Toronto, the waterfront, and
the five Pod buildings on the site. Historic-interpretive research was completed
on the designers of Ontario Place, megastructure precedents, and site studies
of the current conditions. The knowledge gained from the research and site
analysis of Ontario Place influenced a series of architectural and environmental
interventions to the site.
The design interventions take into consideration both the landscape and
architectural re-mediation and re-imagination of a new commons using
sustainability, ecology, rewilding, and interactive play/ learning as key
components of the design for a new operative landscape. A living breakwater off
the shores of the islands, a data collection archipelago around the Great Lakes,
wetland planting, water filtration and ruin demolition for replanting remediate
the landscape of Ontario Place. An adaptive-reuse of the out-of-commission Pod
megastructures, strips the current skin of the buildings to expose the structural
frame underneath. This frame is loaded with plug n’ play containers that hold
various public programs. These containers are plugged in and out seasonally,
refreshing and molding to the needs of the community. Greater impacts of the
project aim to generate more public green space along the Toronto waterfront
for the community in the midst of COVID-19, create a pilot project for the health
of the Great Lakes system and education of the public, as well as continuing
the recent reclamation of the waterfront from industry to public space by
Waterfront Toronto for all people to enjoy
The interaction of disulfiram and H2S metabolism in inhibition of aldehyde dehydrogenase activity and liver cancer cell growth
Get PDFDisulfiram (DSF) is a sulphur-containing compound and has been used to treat chronic
alcoholism and cancer for decades. DSF inactivates aldehyde dehydrogenase (ALDH) by
modifying its cysteine residue(s). ALDH is recently identified as a cancer stem cell marker,
facilitating cell self-renewal and tumour-initiating capacity. Hydrogen sulphide (H2S) as a new
gasotransmitter regulates various cellular functions by the S-sulfhydration of cysteine residues in
target proteins. H2S has also been shown to exhibit similar properties to DSF in the sensitization
of cancer cells to chemotherapeutic agents. Here, the potential of DSF as a H2S-releasing donor
under various conditions was investigated and the roles of H2S in the DSF-mediated inhibition of
ALDH activity and decrease in cell viability in liver cancer cells were also examined. It was
demonstrated that DSF facilitated H2S release from thiol-containing compounds, and DSF and H2S
were both capable of regulating ALDH through inhibition of gene expression and enzymatic
activity. The supplement of H2S sensitized human liver cancer cells (HepG2) to DSF induced
reduction in cell viability. The expression of cystathionine gamma-lyase (a major H2S-generating
enzyme) was lower but ALDH was higher in mouse liver cancer stem cells (Dt81Hepa1-6) in
comparison with their parental cells (Hepa1-6), and H2S was able to inhibit liver cancer stem cell
adhesion. In conclusion, these data provide some clues for combining with DSF and H2S for
inhibition of cancer cell growth and tumour development by targeting ALDH
Reconstructing pairwise comparisons matrices based on differential evolution: a Monte Carlo study
Get PDFPairwise comparisons have been used in the decision-making process since
antiquities. However, it is a substantial challenge to generate a PC matrix
from noisy or incomplete real-life input data. This study aims to investigate
the reconstruction of pairwise comparisons matrices from not-so-inconsistent
pairwise comparisons matrices by an optimization method based on di↵erential evolution. A distance-based objective function is defined as a function
of the inconsistency indicator and the distance metric. Monte Carlo experiments are designed to illustrate the research outcomes. The experimental
results show that this method convergence quickly. It also provides comparisons of several traditional metrics.Master of Science (MSc) in Computational Scienc
Reappropriating post-industrial sites for environmental remediation: the adaptive reuse of Hollinger Gold Mine in Timmins
No full textOver the course of the 20th century, precious metal mining flourished
in all parts of Northern Ontario. Ranging from small operations to large
scale corporations, thousands of mines assisted in the development
of various communities across the province. Today, many of those
infrastructure are abandoned and continue to cause environmental
damage. They however constitute important historical and cultural
artifacts for the local population. Therefore the thesis addresses the
question: how can industrial heritage principles guide the adaptive
reuse of abandoned mining structures to remediate the landscape they
inhabit? Stemming from writings on adaptive reuse, three main research
topics guide this thesis: 1) materiality; 2) spatial, visual and structural
qualities, and 3) sustainability and remediation. These existing historical
assets help determine design interventions, more specifically geared
towards the adaptive reuse of the Hollinger Gold Mine located in
Timmins. The project revolves around a program anchored on urban
agriculture, designed to counter the disassociation between the public
and the process of remediation. Blurring the lines of public and private
spaces, the project invites members of the community to savor locally
grown crops, within a historically rich, reused industrial landmark
La réduction des complications de macrosomie, de déchirure périnéale et de césarienne à l’accouchement par la pratique d’activités physiques : état de la recherche
Get PDFAu Canada, il y a plus de 350 000 accouchements par année (Statistique Canada, 2019). En phase finale de
sa grossesse, la femme peut avoir un accouchement avec ou sans complications (OMS, 2018 ; Agence de la Santé publique du Canada, 2018). Selon plusieurs chercheurs, l’activité physique permet, dans plusieurs cas, la prévention de certaines de ces complications (Santé publique Ontario, 2015 ; Gouvernement du Québec, 2019). La présente étude vise à déterminer, à l’aide d’un état de la recherche, l’apport préventif de l’activité physique en ce qui a trait aux complications de surpoids noé-natal, aux déchirures périnéales ainsi qu’aux césariennes. Par le biais d’analyse de recherche, l’étude cherche à démontrer l’implication de la pratique d’activités physiques dans la réduction des facteurs étiologiques des trois complications. Les résultats obtenus soulignent le rôle clé de prévention d’une intervention basée sur l’activité physique et de loisirs en ce qui concerne le surpoids néo-natal et la césarienne. Quant à l’apport de la pratique d’activités physiques dans la réduction des risques de déchirures périnéales, plus de recherches doivent être menées afin de déterminer si son rôle est significatif. = In Canada, there are more than 350,000 childbirths per year (Statistics Canada, 2019). In the final phase of pregnancy, women can have a birth with or without complications (WHO, 2018; Public Health Agency of Canada, 2018). According to several researchers, physical activity in several cases helps prevent some of these complications (Public Health Ontario, 2015 ; Government du Québec, 2019). The present study aimed to determine whether physical activity plays a part in reducing the etiological factors of three delivery complications: macrosomia, perineal tears as well as caesarean section and, through this analysis, determine whether physical activity acts as a preventative measure. The results obtained underline the key preventative role of a physical activity intervention and of leisure with regard to macrosomia and caesarean section. As for the contribution of physical activity in reducing the risk of perineal tears, more research is needed to determine if its role is significant
Health equity and rurality in Northern Ontario
Get PDFBackground: The current climate in Ontario, Canada is one where access to health and social
services, healthcare experience and health/social outcomes vary widely across the province. The
existing health disparities in Ontario disproportionately affect those living in rural and northern
areas. Current indicators used to measure this variability have been developed in the context of
health systems in more densely populated areas and may not be relevant for more rural and
remote geographic areas. As such, the objectives of this thesis were: (1) to develop a health
equity measurement approach specific to Northern Ontario based on input from Northern Ontario
health decision-makers, and (2) to operationalize a rurality measurement approach for Northern
Ontario.
Methods: This two-phase exploratory sequential mixed methods study included a qualitative
inquiry followed by a descriptive rurality measurement. The first phase explored health equity
measurement in the context of Northern Ontario through in-depth interviews with Northern
Ontario health equity key informants. The resulting thematic analysis informed a proposed
Northern Ontario health equity measurement approach and the rurality stratifier exploration in
phase-two. The second phase included a descriptive analysis using secondary data. The two
rurality measurement approaches included were Statistical Area Classification Type and the
Remoteness Index. Chi -squared tests for independence were used to assess the level of
association between all classification methods including alternate categorization approaches
within the Remoteness Index measure.
Results: The thematic analysis in phase-one revealed four health equity indicators of relevance to
Northern Ontario: infant mortality, overall mortality, perceived health status, and satisfaction of
health care received. Furthermore, two stratifiers were identified as uniquely important to
measuring health equity in Northern Ontario contexts. These two stratifiers included geographic
position (rurality), as well as material welfare (income). The descriptive analysis of the rurality
stratifier in phase-two recommended two methods of categorization using the Remoteness Index
to consider as a complement or replacement to the Statistical Area Classification Type approach.
Conclusion: This exploration of health equity measurement in the context of Northern Ontario
proved to be a feasible and productive way to engage key informants in health equity
indicator/stratifier selection and recommendation. Certain health equity stratifiers – including
rurality – are elusive to define and measure; however, the Statistical Area Classification Type
and Remoteness Index should both be considered as rurality measures in Northern Ontario
Occurrence, release and alteration of chromite nanoparticles
Get PDFMany environmental risk assessments are based on the total concentration of elements in
natural waters/ soils, ignoring that a significant proportion of elements is associated with
nanoparticles. TEM analysis of the silicate minerals from a chromitite sample from the
Mum and Alice June claims, California confirmed that Cr-rich silicates contained an
abundance of chromite nanoparticles. Subsequently, the colloidal fraction of a Cr-rich
silicate leaching experiment revealed that the chromite nanoparticles persist through the
weathering of their host silicate, confirming that chromite nanoparticles can be a
significant form of Cr in the environment. The oxidation of chromite nanoparticles in the
presence of Mn-oxides (best known environmental oxidiser of Cr3+) was tested with 6
batch experiments at pH 5 over a 9-month period. These experiments reveal that the
dominant redox reaction between chromite nanoparticles and Mn-oxides is the oxidation
of Fe2+(rather than Cr3+) by Mn3+.Master of Science (MSc) in Geolog
Les expériences d’allaitement des femmes du district de Témiskaming
Get PDFL’allaitement est le moyen le plus naturel de nourrir son enfant et lui fournir toutes les
propriétés immunologiques nécessaires à un bon départ. L’Organisation mondiale de la santé
(OMS) et les Fonds des Nations Unies pour l'enfance (UNICEF) (2018) réitèrent l’importance
pour tous les bébés d’être allaités exclusivement durant les six premiers mois de vie et la
poursuite de l’allaitement jusqu’à deux ans ou plus suite à l’introduction appropriée des aliments
complémentaires. Les Services de santé du Timiskaming1
(SST) ont reçu la désignation Amis
des bébés (IAB) en mars 2017. Depuis, le taux d’initiation d’allaitement a diminué, et ce, de
façon statistiquement significative du taux provincial. Cette étude à devis mixte vise à connaître
les pratiques d’allaitement des femmes du district de Témiskaming et démontre que seuls le
tabagisme et l’éducation de la mère ont une association avec la durée d’allaitement. Malgré que
certaines des Dix2
conditions selon l’IAB se maintiennent au-delà de 80% de succès, autres
variables, selon les résultats, ne rencontrent pas ces critères. Un travail intentionné avec les
agences communautaires sur des initiatives établies et nouvelles, incluant le cheminement vers la
désignation IAB seraient bénéfiques pour connaître davantage les besoins des mamans et
d’augmenter la durée d’allaitement
The engagement of the raising the Spirit’ Mental Wellness Team with First Nation communities in the Manitoulin, North Shore and Bemwijaang Tribal Council areas
No full textThe “Raising the Spirit” Mental Wellness Team (MWT) was funded as a pilot project in 2007.
Funding for this project was made available by the federal government under the Mental
Wellness Advisory Committee (MWAC) Strategy (see appendix 1). This pilot project partnered
with ten First Nations communities from the Manitoulin Island, North Shore and Waabnoong
Bemwijaang Tribal Council areas, in Northeastern Ontario. The goal of this pilot project was to
work collaboratively with mental health and addiction workers and other service providers to
improve access to specialized services; enhance knowledge, skills, and capacities of community
workers; provide support, consultation, clinical supervision, coaching and mentoring; and, braid
traditional and mainstream approaches to wellness.
The focus of this research study was to evaluate how the MWT pilot project maintained the
engagement and support of the participating First Nations communities. Areas explored
included: the collaboration within and across Aboriginal communities; the integration of
mainstream and traditional approaches; and, capacity building at the community level.
Self -reflective journals, photovoice and narrative storytelling interviews were chosen because of
their congruence with traditional ways of knowing and understanding which were also viewed as
being culturally appropriate. These evaluation methods were extremely powerful means of
telling the story of the relationship between the MWT and the First Nations communities
involved in this project.
One major contributing factor that enhanced the ability of the MWT pilot project to maintain the
engagement with the First Nations communities was the strong commitment to the intent of the
iv
pilot project by all partners. Although there were many challenges that could have impacted the
ability of the MWT to engage with the First Nations communities, there was good support from
the First Nation leadership who recognized the benefits of enhanced mental health and addictions
services in their communities. The pilot project offered an opportunity for the First Nations
communities to access additional mental health and addiction services as well as increased
access to traditional healing services. The Traditional Advisory Committee (TAC) was
instrumental in creating opportunities through the Traditional Teaching Series for frontline
workers to learn more about traditional healing practices and teachings. This had the added
benefit of increasing their skills and abilities to utilize both traditional and mainstream
approaches in their service provision to their clients, as well as themselves and their families