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1,831 Research products

  • Rural Digital Europe
  • 2023-2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/

    official statistics: aggregate data Geographic Unit 公的統計: 集計データ、統計表 【対象期間】 明治35年 Aggregation Object 地理的単位 対象 集計

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ JAIROarrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    JAIRO
    2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      JAIRO
      2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Castañeda, L; Esteve-Mon, F; Adell, J;

    En un contexto en que la transformación digital ya lleva casi una década posicionándose como prioritaria para las instituciones de Educación Superior y en el que la reciente pandemia y sus condiciones no ha hecho más que azuzar y generalizar más si cabe esta apuesta por lo digital, es tiempo de contribuir a propuestas de análisis que propongan otras lógicas de esa transformación que nos permitan entender cómo son los planes de transformación digital de nuestras universidades. Así, en este trabajo se realiza un análisis de los planes de transformación digital de las universidades públicas españolas, en el que se parte de tres elementos básicos de análisis: ¿cómo responde el plan a la misión de la universidad?, ¿qué factores de implementación considera prioritarios? y ¿a qué participantes involucra y afecta? Desde estas preguntas de investigación se propone un análisis documental que nos ofrece un panorama muy variado que pone de relieve la gran heterogeneidad de nuestras instituciones públicas, el largo camino que queda por recorrer a algunas de ellas, la unánime apuesta por una transformación claramente centrada en la gestión TIC y un horizonte de transformación con mucho margen para la mejora. Además, el análisis y el contexto que lo sitúa nos llama la atención sobre la necesidad de que estos procesos que siguen en marcha y continúan, no se conviertan en una oportunidad perdida para repensar y transformar verdaderamente nuestra visión de la visión de la universidad para el futuro.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Repositori Instituci...arrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Repositori Instituci...arrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/

    official statistics: aggregate data 【対象期間】 明治22年12月31日調 Geographic Unit 公的統計: 集計データ、統計表 Aggregation 地理的単位 集計

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ JAIROarrow_drop_down
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      JAIRO
      2023
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  • image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Authors: Onecha Pérez, Ana Belén; Cornadó Bardón, Còssima; Morros Cardona, Jordi; Pons Valladares, Oriol;

    This research paper has defined and applied a new approach to develop and optimize augmented reality-based metaverse environments for learning construction and rehabilitation in architectural studies. This research paper is part of a broader project that aims to improve the learning process of architectural students by approaching construction and rehabilitation realities to the classroom in a feasible and pedagogical way. The approach has been applied successfully to develop a new environment with augmented reality that allows teachers to carry out activities using com puters, tablets, cellphones and smartphone headsets in classrooms. Students’ satisfaction regarding the new environment is high, though there is room for improvement. The assessment of this new environment has involved both questionnaires and a multicriteria decision-making method which have holistically evaluated the new proposal by achieving complementary results. The main advantages of this new environment are in terms of application and inclusion, while its weaknesses will be solved in future steps that will introduce both mixed reality, to enlarge students’ perception and comprehension, as well as neuroeducation, to diminish students’ potential annoyances and dissatisfaction.

    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Recolector de Cienci...arrow_drop_down
    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Recolector de Cienci...arrow_drop_down
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/

    official statistics: aggregate data 公的統計: 集計データ、統計表 【対象期間】 明治34年 Aggregation Object 対象 集計

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ JAIROarrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    JAIRO
    2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ JAIROarrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      JAIRO
      2023
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  • Authors: Chelioti, Konstantina;
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/

    official statistics: aggregate data 公的統計: 集計データ、統計表 【対象期間】 明治40年 Aggregation Object 対象 集計

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ JAIROarrow_drop_down
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    JAIRO
    2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      JAIRO
      2023
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  • This dataset contains presence-absence data, abundance and habitat descriptions for echinoderm species collected during the Bangor-Watamu Expedition in 1969. The data were digitized by VLIZ from the original report: Humphreys, W.F. (1981). The echinoderms of Kenya's marine parks and adjacent regions. Koninklijk Museum voor Midden-Afrika: zoologische documentatie = Musée Royal de l'Afrique Centrale: documentation zoologique, 19. Koninklijk Museum voor Midden-Afrika: Tervuren. 39 pp.

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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Pilelienė, Lina; Jucevičius, Giedrius;

    The paper focuses on the bibliometric review of the Scopus database in the field of innovation ecosystem development, aiming to reveal the key trends in this fast-growing area of interdisciplinary research in terms of different quantitative and qualitative parameters. The bibliometric analysis followed PRISMA protocol guidelines for finding and extracting relevant scholarly papers based on the selected national, institutional, demographic, and scientific variables. The PRISMA procedure resulted in 401 selected open-access articles published on the topic of innovation ecosystem development from 2013 to 2023. The key findings indicate that research on innovation ecosystem development has seen late growth, which is a sign of still underexplored fields for potential pioneers. Researchers and institutions from the Nordic countries and the UK are most active as far as publications on innovation ecosystem development are concerned. However, researchers from the USA, Australia, and the UK dominate the citation records. Research collaborations help increase productivity and citation levels. The most cited articles fall into 4 clusters based on citations: innovation, smart tourism, digitalization, and entrepreneurship. Future research synergies can also be envisaged with the domains of digitalization, sustainable development, and the smart environment.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Vytautas Magnus Univ...arrow_drop_down
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Zhang, Jingwen;

    As legged robots have demonstrated versatility, they are more and more favorable for many applications, such as logistics, surveillance, disaster relief, and even home service. Legged robots have the potential to explore and interact with the environment around humans but cannot be handled by robots of other types. A key difficulty in legged locomotion control is that the movement of the floating base cannot be commanded directly, but instead results from the contact forces between the robot and the environment. The contact forces introduce some physical constraints, such as friction cones and unilateral features. Additionally, the hybrid and highly nonlinear dynamics further complex the motion generation and also the motion execution.For tackling legged locomotion, the control framework is often designed hierarchically, in which the high level is in charge of planning reference motion trajectories, and the low level is responsible for tracking this reference trajectory under disturbances. The ideal case is that the reference motion from the high-level planner can be executed by the low-level controller perfectly. However, the discrepancy is always presented given model simplifications and task assumptions. The main objective of this dissertation is to make contributions to mitigate this discrepancy by focusing on high-level motion planning.In motion planning for legged robots, the motion can be categorized into two main types, quasi-static and dynamic motions. Quasi-static motions are defined with a series of discrete contact sequences while the acceleration is kept zero in every time instance. Although energy inefficient, it is often considered a high-risk task. In this dissertation, two motion planners are presented for a six-legged wall-climbing robot given a unique combination of constraints on contact points, contact forces, and body posture. For the first on-wall planner that decouples contact and force planning, on-wall contact points are generated using a mixed-integer convex programming (MICP) with a pre-specified contact sequence while contact forces are optimized subsequently with convex programming. For the second planner, the unscheduled contact sequence is optimized by solving nonlinear programming (NLP). We consider various motions on different environment setups via modeling contact constraints and limb switchability as complementarity conditions. With presented planners, the robot is able to overcome the transition phase between the ground and walls, and also climb vertically between two walls with irregular profiles using pure friction.As for dynamic motions which are seen more commonly in legged animals, trajectory optimization can be utilized to generate a more continuous motion while acceleration resulting from the model dynamics plays a key role. In this dissertation, a jumping planner is presented for a miniature bipedal robot with proprioceptive actuation. The algorithm adopts centroidal dynamics to consider whole-body mass and inertia distribution and generates various motions, directional jumps, twisting jumps, step jumps, and somersaults. The optimized motion can not only mimic human jumping behaviors but also compensate for undesired angular momentum. To prepare a more accurate model for the planner, optimization-based system identification is applied here. Additionally, a heuristic landing location planner based on real-time momentum feedback in the air phase is presented to improve landing stability when executing the jumping reference trajectory.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ eScholarship - Unive...arrow_drop_down
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/

    official statistics: aggregate data Geographic Unit 公的統計: 集計データ、統計表 【対象期間】 明治35年 Aggregation Object 地理的単位 対象 集計

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ JAIROarrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    JAIRO
    2023
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      JAIRO
      2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Castañeda, L; Esteve-Mon, F; Adell, J;

    En un contexto en que la transformación digital ya lleva casi una década posicionándose como prioritaria para las instituciones de Educación Superior y en el que la reciente pandemia y sus condiciones no ha hecho más que azuzar y generalizar más si cabe esta apuesta por lo digital, es tiempo de contribuir a propuestas de análisis que propongan otras lógicas de esa transformación que nos permitan entender cómo son los planes de transformación digital de nuestras universidades. Así, en este trabajo se realiza un análisis de los planes de transformación digital de las universidades públicas españolas, en el que se parte de tres elementos básicos de análisis: ¿cómo responde el plan a la misión de la universidad?, ¿qué factores de implementación considera prioritarios? y ¿a qué participantes involucra y afecta? Desde estas preguntas de investigación se propone un análisis documental que nos ofrece un panorama muy variado que pone de relieve la gran heterogeneidad de nuestras instituciones públicas, el largo camino que queda por recorrer a algunas de ellas, la unánime apuesta por una transformación claramente centrada en la gestión TIC y un horizonte de transformación con mucho margen para la mejora. Además, el análisis y el contexto que lo sitúa nos llama la atención sobre la necesidad de que estos procesos que siguen en marcha y continúan, no se conviertan en una oportunidad perdida para repensar y transformar verdaderamente nuestra visión de la visión de la universidad para el futuro.

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    official statistics: aggregate data 【対象期間】 明治22年12月31日調 Geographic Unit 公的統計: 集計データ、統計表 Aggregation 地理的単位 集計

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    Authors: Onecha Pérez, Ana Belén; Cornadó Bardón, Còssima; Morros Cardona, Jordi; Pons Valladares, Oriol;

    This research paper has defined and applied a new approach to develop and optimize augmented reality-based metaverse environments for learning construction and rehabilitation in architectural studies. This research paper is part of a broader project that aims to improve the learning process of architectural students by approaching construction and rehabilitation realities to the classroom in a feasible and pedagogical way. The approach has been applied successfully to develop a new environment with augmented reality that allows teachers to carry out activities using com puters, tablets, cellphones and smartphone headsets in classrooms. Students’ satisfaction regarding the new environment is high, though there is room for improvement. The assessment of this new environment has involved both questionnaires and a multicriteria decision-making method which have holistically evaluated the new proposal by achieving complementary results. The main advantages of this new environment are in terms of application and inclusion, while its weaknesses will be solved in future steps that will introduce both mixed reality, to enlarge students’ perception and comprehension, as well as neuroeducation, to diminish students’ potential annoyances and dissatisfaction.

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    official statistics: aggregate data 公的統計: 集計データ、統計表 【対象期間】 明治34年 Aggregation Object 対象 集計

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  • Authors: Chelioti, Konstantina;
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    official statistics: aggregate data 公的統計: 集計データ、統計表 【対象期間】 明治40年 Aggregation Object 対象 集計

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  • This dataset contains presence-absence data, abundance and habitat descriptions for echinoderm species collected during the Bangor-Watamu Expedition in 1969. The data were digitized by VLIZ from the original report: Humphreys, W.F. (1981). The echinoderms of Kenya's marine parks and adjacent regions. Koninklijk Museum voor Midden-Afrika: zoologische documentatie = Musée Royal de l'Afrique Centrale: documentation zoologique, 19. Koninklijk Museum voor Midden-Afrika: Tervuren. 39 pp.

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    Authors: Pilelienė, Lina; Jucevičius, Giedrius;

    The paper focuses on the bibliometric review of the Scopus database in the field of innovation ecosystem development, aiming to reveal the key trends in this fast-growing area of interdisciplinary research in terms of different quantitative and qualitative parameters. The bibliometric analysis followed PRISMA protocol guidelines for finding and extracting relevant scholarly papers based on the selected national, institutional, demographic, and scientific variables. The PRISMA procedure resulted in 401 selected open-access articles published on the topic of innovation ecosystem development from 2013 to 2023. The key findings indicate that research on innovation ecosystem development has seen late growth, which is a sign of still underexplored fields for potential pioneers. Researchers and institutions from the Nordic countries and the UK are most active as far as publications on innovation ecosystem development are concerned. However, researchers from the USA, Australia, and the UK dominate the citation records. Research collaborations help increase productivity and citation levels. The most cited articles fall into 4 clusters based on citations: innovation, smart tourism, digitalization, and entrepreneurship. Future research synergies can also be envisaged with the domains of digitalization, sustainable development, and the smart environment.

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    Authors: Zhang, Jingwen;

    As legged robots have demonstrated versatility, they are more and more favorable for many applications, such as logistics, surveillance, disaster relief, and even home service. Legged robots have the potential to explore and interact with the environment around humans but cannot be handled by robots of other types. A key difficulty in legged locomotion control is that the movement of the floating base cannot be commanded directly, but instead results from the contact forces between the robot and the environment. The contact forces introduce some physical constraints, such as friction cones and unilateral features. Additionally, the hybrid and highly nonlinear dynamics further complex the motion generation and also the motion execution.For tackling legged locomotion, the control framework is often designed hierarchically, in which the high level is in charge of planning reference motion trajectories, and the low level is responsible for tracking this reference trajectory under disturbances. The ideal case is that the reference motion from the high-level planner can be executed by the low-level controller perfectly. However, the discrepancy is always presented given model simplifications and task assumptions. The main objective of this dissertation is to make contributions to mitigate this discrepancy by focusing on high-level motion planning.In motion planning for legged robots, the motion can be categorized into two main types, quasi-static and dynamic motions. Quasi-static motions are defined with a series of discrete contact sequences while the acceleration is kept zero in every time instance. Although energy inefficient, it is often considered a high-risk task. In this dissertation, two motion planners are presented for a six-legged wall-climbing robot given a unique combination of constraints on contact points, contact forces, and body posture. For the first on-wall planner that decouples contact and force planning, on-wall contact points are generated using a mixed-integer convex programming (MICP) with a pre-specified contact sequence while contact forces are optimized subsequently with convex programming. For the second planner, the unscheduled contact sequence is optimized by solving nonlinear programming (NLP). We consider various motions on different environment setups via modeling contact constraints and limb switchability as complementarity conditions. With presented planners, the robot is able to overcome the transition phase between the ground and walls, and also climb vertically between two walls with irregular profiles using pure friction.As for dynamic motions which are seen more commonly in legged animals, trajectory optimization can be utilized to generate a more continuous motion while acceleration resulting from the model dynamics plays a key role. In this dissertation, a jumping planner is presented for a miniature bipedal robot with proprioceptive actuation. The algorithm adopts centroidal dynamics to consider whole-body mass and inertia distribution and generates various motions, directional jumps, twisting jumps, step jumps, and somersaults. The optimized motion can not only mimic human jumping behaviors but also compensate for undesired angular momentum. To prepare a more accurate model for the planner, optimization-based system identification is applied here. Additionally, a heuristic landing location planner based on real-time momentum feedback in the air phase is presented to improve landing stability when executing the jumping reference trajectory.

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