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Bambara: Uncovering the Hidden Footsteps from the Pillar of Fire to the Rising Sun

為了解決Finite state machine的問題，作者Eidelberg, Joseph 這樣論述：

Joseph Eidelberg was born in Odesa in 1916 to Haim and Clara Eidelberg. At the age of 12 his family moved to Mandatory Palestine (now Israel). Growing in Jerusalem and Haifa Joseph enjoyed the freedom of his new homeland, including extensive hiking with friends and working at his father’s constructi

on company. At the age of 22 he went to England to study engineering. He returned to Palestine shortly before WW2 and joinrd the British security forces. He later joined the Israeli Defense Forces Haggana, became an officer, fought in the Israeli independence war and served for several years in the

Engineering Corp. In early 1950’s Joseph went to the USA to finish his engineering studies. After graduation he worked in Israel as an engineering manager of several irrigation projects, managed the Copper Mines in Eilat, became the plant manager of the Dead Sea Works and managed the Israeli Shipyar

ds in Haifa. Later in his career he managed the branches of Tahal Irrigation Company in Iran and in the Ivory Coast. From his early age Joseph developed an interest in religions of different nations. He travelled the world and studied, as a hobby, their cultures, rituals, customs, and languages. In

this process, while working in Africa, he discovered that the Bambara language has a close similarity to the ancient Hebrew language. He further found out that some of the African tribal customs resemble ancient Jewish customs. While trying to find explanations to his initial discoveries he noticed

that many of the places, which are listed in the Bible, as stops that the Israelites made on their way from Egypt to Canaan 3,500 years ago, are still existing in North Africa. He then developed his first theory that most of the 40 Exodus years that the Israelites spent in the desert were not in the

Sinai desert but in Africa. Joseph’s second theory was related to the mystery of the Ten Lost Tribes of Israel. The tribes were expelled from Israel by the Assyrians in 722 BCE, several hundreds of years after they left Egypt and settled in Canaan, but their traces were never found. In search for t

heir traces, Joseph traveled in Asia and joined a Shinto shrine as a scholar, studied the Japanese history, religious rituals, customs, and language. He discovered many similarities between Japanese and ancient Hebrew in language, words, religious rituals, holidays, and customs, which led him to con

clude that some of the lost tribes ended up in Japan. The two theories were first published by Joseph in 1972 in a Hebrew book Bambara - A new approach to solving the puzzles of Exodus and the mystery of the Ten Tribes. He then published in 1980 his second English book The Japanese and the Ten Lost

Tribes of Israel, which was translated to Japanese and sold in over 40,000 copies. Joseph last English book The Biblical Hebrew Origin of the Japanese People was completed shortly before his death and was first published in 2005. All books were published in several editions and resulted in total 35

global publications, in 3 languages and 153 library holdings.In commemoration of Joseph Eidelberg’s legacy, his original Hebrew book Bambara - Uncovering the Hidden Footsteps from the Pillar of Fire to the Rising Sun was translated to English and published in 2021 including a galley of his life expe

rience. Boaz was born in 1944 to Joseph and Zipora Eidelberg in Mandatory Palestine (now Israel). In 1962 he graduated from Haifa military academy school. His Tinnitus injury classified him as a disabled veteran of the Israeli Defense Forces. Financed by his father he went in 1965 to the USA to stud

y engineering.In 1968 Eidelberg received B.Sc. in Mechanical Engineering at Tri-State College. During summer vacations he worked as a draftsman in Skokie, Illinois. On June 6, 1967, the day he was scheduled to start his job, the Six-Day War broke out. Eidelberg canceled his plan, flew to Israel, and

served in the West Bank. In 1970 he received an M.Sc. from Michigan State University and in 1975 a Ph.D. in Mechanical System Analysis from Cornell University.After his graduation from Cornell Boaz returned to Israel. He worked as an engineering systems analyst and retired in 1992 as a pensioner of

the Israeli Ministry of Defense. Following his retirement, he started a new career in business development of industrial automation and robotics.He worked as the director of linear motor business development at Anorad Corporation. He then started and sold his company Botec to Bayside Motion Group a

nd worked there as a Vice President of Business Development and a project manager of complex automation machines. For one project, developing a large laser scribing machine for solar panels, Boaz invented a virtual rotation mechanism of incoming glass panels. The machine success influenced the acqui

sition of Bayside by Parker Hannifin. In 2012 Boaz was hired by Festo as the head of NAFTA Competence Center. One of his patents included a variable pitch gripper for robots, which allows bottle handling of various sizes reducing time loss during end of arm tool changes. In another patent for an Aut

omotive project he invented an all in one robotic gripper, using a single standard positioning stage, which could be assembled in hundreds of configurations and grip multiple body parts without losing time for gripper changes. Boaz was active in engineering teaching from 1968 to 1973 during his grad

uate studies in MSU and Cornell. In 1982 he was back at Michigan State University as a Visiting Professor, teaching Robotics, Machine Design, and advanced Kinematics courses. In 1983 he initiated a similar design course to senior students at the Technion Institute of Technology, developing, manufact

uring, and marketing an automated hospital bed for injured military personnel. From 2017 to 2019 he developed and taught distance learning courses in Robotics, Finite Element Methods and Manufacturing Technology at Farmingdale State College. In 2019 he developed and taught at Stony Brook University

a graduate course in Mechatronics with Artificial Intelligence and Machine Learning features.Boaz main hobby from 1970 to 2017 was flying. Since 2004 he was active in publishing several editions of his father’s books, including the translation of Bambara from Hebrew to English in 2021, which include

s a life-long photo gallery in commemoration of his father’s legacy.

電腦組成與設計：硬體/軟體介面（原書第5版·RISC-V版·英文版）

為了解決Finite state machine的問題，作者（美）戴維·A.帕特森 這樣論述：

本書是經典著作《計算機組成與設計》繼MIPS版、ARM版之後的最新版本，這一版專注於RISC-V，是Patterson和Hennessy的又一力作。RISC-V指令集作為開源架構，是專為雲計算、移動計算以及各類嵌入式系統等現代計算環境設計的架構。本書更加關注後PC時代發生的變革，通過實例、練習等詳細介紹最新計算模式，更新的內容還包括平板電腦、雲基礎設施以及ARM（行動計算裝置）和x86 (雲計算)體系結構。 C H A P T E R S 1 Computer Abstractions and Technology 2 1.1 Introduction 3 1.2 Eight Great

Ideas in Computer Architecture 11 1.3 Below Your Program 13 1.4 Under the Covers 16 1.5 Technologies for Building Processors and Memory 24 1.6 Performance 28 1.7 The Power Wall 40 1.8 The Sea Change: The Switch from Uniprocessors to Multiprocessors 43 1.9 Real Stuff: Benchma the Intel Core i7 46 1.

10 Fallacies and Pitfalls 49 1.11 Concluding Remarks 52 1.12 Historical Perspective and Further Reading 54 1.13 Exercises 54 2 Instructions: Language of the Computer 60 2.1 Introduction 62 2.2 Operations of the Computer Hardware 63 2.3 Operands of the Computer Hardware 67 2.4 Signed and Unsigned Nu

mbers 74 2.5 Representing Instructions in the Computer 81 2.6 Logical Operations 89 2.7 Instructions for M Decisions 92 2.8 Supporting Procedures in Computer Hardware 98 2.9 Communicating with People 108 2.10 RISC-V Addressing for Wide Immediates and Addresses 113 2.11 Parallelism and Instructions:

Synchronization 121 2.12 Translating and Starting a Program 124 2.13 A C Sort Example to Put it All Together 133 2.14 Arrays versus Pointers 141 2.15 Advanced Material: Compiling C and Interpreting Java 144 2.16 Real Stuff: MIPS Instructions 145 2.17 Real Stuff: x86 Instructions 146 2.18 Real Stuff:

The Rest of the RISC-V Instruction Set 155 2.19 Fallacies and Pitfalls 157 2.20 Concluding Remarks 159 2.21 Historical Perspective and Further Reading 162 2.22 Exercises 162 3 Arithmetic for Computers 172 3.1 Introduction 174 3.2 Addition and Subtraction 174 3.3 Multiplication 177 3.4 Division 183

3.5 Floating Point 191 3.6 Parallelism and Computer Arithmetic: Subword Parallelism 216 3.7 Real Stuff: Streaming SIMD Extensions and Advanced Vector Extensions in x86 217 3.8 Going Faster: Subword Parallelism and Matrix Multiply 218 3.9 Fallacies and Pitfalls 222 3.10 Concluding Remarks 225 3.11 H

istorical Perspective and Further Reading 227 3.12 Exercises 227 4 The Processor 234 4.1 Introduction 236 4.2 Logic Design Conventions 240 4.3 Building a Datapath 243 4.4 A Simple Implementation Scheme 251 4.5 An Overview of Pipelining 262 4.6 Pipelined Datapath and Control 276 4.7 Data Hazards: Fo

rwarding versus Stalling 294 4.8 Control Hazards 307 4.9 Exceptions 315 4.10 Parallelism via Instructions 321 4.11 Real Stuff: The ARM Cortex-A53 and Intel Core i7 Pipelines 334 4.12 Going Faster: Instruction-Level Parallelism and Matrix Multiply 342 4.13 Advanced Topic: An Introduction to Digital D

esign Using a Hardware Design Language to Describe and Model a Pipeline and More Pipelining Illustrations 345 4.14 Fallacies and Pitfalls 345 4.15 Concluding Remarks 346 4.16 Historical Perspective and Further Reading 347 4.17 Exercises 347 5 Large and Fast: Exploiting Memory Hierarchy 364 5.1 Intr

oduction 366 5.2 Memory Technologies 370 5.3 The Basics of Caches 375 5.4 Measuring and Improving Cache Performance 390 5.5 Dependable Memory Hierarchy 410 5.6 Virtual Machines 416 5.7 Virtual Memory 419 5.8 A Common Framework for Memory Hierarchy 443 5.9 Using a Finite-State Machine to Control a Si

mple Cache 449 5.10 Parallelism and Memory Hierarchy: Cache Coherence 454 5.11 Parallelism and Memory Hierarchy: Redundant Arrays of Inexpensive Disks 458 5.12 Advanced Material: Implementing Cache Controllers 459 5.13 Real Stuff: The ARM Cortex-A53 and Intel Core i7 Memory Hierarchies 459 5.14 Real

Stuff: The Rest of the RISC-V System and Special Instructions 464 5.15 Going Faster: Cache Blo and Matrix Multiply 465 5.16 Fallacies and Pitfalls 468 5.17 Concluding Remarks 472 5.18 Historical Perspective and Further Reading 473 5.19 Exercises 473 6 Parallel Processors from Client to Cloud 490 6

.1 Introduction 492 6.2 The Difficulty of Creating Parallel Processing Programs 494 6.3 SISD, MIMD, SIMD, SPMD, and Vector 499 6.4 Hardware Multithreading 506 6.5 Multicore and Other Shared Memory Multiprocessors 509 6.6 Introduction to Graphics Processing Units 514 6.7 Clusters, Warehouse Scale Com

puters, and Other Message-Passing Multiprocessors 521 6.8 Introduction to Multiprocessor Network Topologies 526 6.9 Communicating to the Outside World: Cluster Netwo 529 6.10 Multiprocessor Benchmarks and Performance Models 530 6.11 Real Stuff: Benchma and Rooflines of the Intel Core i7 960 and the

NVIDIA Tesla GPU 540 6.12 Going Faster: Multiple Processors and Matrix Multiply 545 6.13 Fallacies and Pitfalls 548 6.14 Concluding Remarks 550 6.15 Historical Perspective and Further Reading 553 6.16 Exercises 553 A P P E N D I X The most beautiful thing we can experience is the mysterious. It

is the source of all true art and science. Albert Einstein, What I Believe, 1930 About This Book We believe that learning in computer science and engineering should reflect the current state of the field, as well as introduce the principles that are shaping computing. We also feel that readers

in every specialty of computing need to appreciate the organizational paradigms that determine the capabilities, performance, energy, and, ultimately, the success of computer systems. Modern computer technology requires professionals of every computing specialty to understand both hardware and so

ftware. The interaction between hardware and software at a variety of levels also offers a framework for understanding the fundamentals of computing. Whether your primary interest is hardware or software, computer science or electrical engineering, the central ideas in computer organization and desi

gn are the same. Thus, our emphasis in this book is to show the relationship between hardware and software and to focus on the concepts that are the basis for current computers. The recent switch from uniprocessor to multicore microprocessors confirmed the soundness of this perspective, given sinc

e the first edition. While programmers could ignore the advice and rely on computer architects, compiler writers, and silicon engineers to make their programs run faster or be more energy-efficient without change, that era is over. For programs to run faster, they must become parallel. While the goa

l of many researchers is to make it possible for programmers to be unaware of the underlying parallel nature of the hardware they are programming, it will take many years to realize this vision. Our view is that for at least the next decade, most programmers are going to have to understand the hardw

are/software interface if they want programs to run efficiently on parallel computers. The audience for this book includes those with little experience in assembly language or logic design who need to understand basic computer organization as well as readers with backgrounds in assembly language a

nd/or logic design who want to learn how to design a computer or understand how a system works and why it performs as it does. About the Other Book Some readers may be familiar with Computer Architecture: A Quantitative Approach, popularly known as Hennessy and Patterson. (This book in turn is o

ften called Patterson and Hennessy.) Our motivation in writing the earlier book was to describe the principles of computer architecture using solid engineering fundamentals and quantitative cost/performance tradeoffs. We used an approach that combined examples and measurements, based on commercial s

ystems, to create realistic design experiences. Our goal was to demonstrate that computer architecture could be learned using quantitative methodologies instead of a descriptive approach. It was intended for the serious computing professional who wanted a detailed understanding of computers. A maj

ority of the readers for this book do not plan to become computer architects. The performance and energy efficiency of future software systems will be dramatically affected, however, by how well software designers understand the basic hardware techniques at work in a system. Thus, compiler writers,

operating system designers, database programmers, and most other software engineers need a firm grounding in the principles presented in this book. Similarly, hardware designers must understand clearly the effects of their work on software applications. Thus, we knew that this book had to be much

more than a subset of the material in Computer Architecture, and the material was extensively revised to match the different audience. We were so happy with the result that the subsequent editions of Computer Architecture were revised to remove most of the introductory material; hence, there is much

less overlap today than with the first editions of both books. Why RISC-V for This Edition? The choice of instruction set architecture is

多軸⾶⾏器強化學習控制

為了解決Finite state machine的問題，作者畢楨煥 這樣論述：

本論⽂討論使⽤強化學習控制法則進⾏多旋翼無⼈機的⾶⾏控制。在控制⽅⾯，提出⼀種基於強化學習的低階控制器和兩種改進⽅法，使多旋翼控制器性能⽐⼀般強 化學習控制器具備更通⽤性以及強健性。本研究從四旋翼機構建模和模擬環境的構建 開始，基於神經網路的四軸⾶⾏器控制器經由強化學習演算法，產⽣⼀控制策略來調 節四旋翼⾶⾏器的⾶⾏。其中四旋翼機的環境狀態做為神經網路的輸⼊，⽽四個轉⼦ 的推⼒作為控制輸出。此四旋翼控制器可歸類為⼀⾮線性控器，並且只需透過定義⼀ 個損失函數來作為控制策略的最佳化⽬標，此提出的⽅法顯著簡化四旋翼控制器的設 計過程。為了驗證多旋翼控制策略的結果，本研究除了在系統模擬環境中對策略進

⾏ 訓練和驗證，也在實驗部分通過控制閉迴路結構將控制策略應⽤於真實的多旋翼⾶⾏ 器，本⽂將訓練好的強化學習控制策略實現於機載⾶⾏電腦，並且觀察與討論此控制 策略應⽤在現實世界中多旋翼⾶⾏器的可⾏性和⾶⾏表現。 針對強化學習控制器的通⽤性，本論⽂提出了⼀種多⽤途控制⽅法。通過修改神經網路的輸⼊和輸出，該⽅法可以克服強化學習控制器只適⽤於於特定模型以及特定 物理參數問題，解決耗時以及⾼成本控制器訓練。在強健性⽅⾯，本論⽂提出了⼀種 具有擾動補償的強化學習控制結構，以解決外部擾動下的四旋翼定位問題。所提出的 控制⽅案構建了⼀個⼲擾觀測器來估計施加在四旋翼三個軸上的外⼒，例如室外環境 中的陣⾵。通過在

神經網路控制引⼊⼲擾補償器，此⽅法顯著提⾼了室內和室外環境 中的定位精度和強健性。 本論⽂還提出⼀種實時軌跡規劃器，引⼊強化學習控制來解決⽋驅動四旋翼⾶⾏器垂直降落問題。四旋翼⾶⾏器的軌跡⽣成和追蹤⽅法分別利⽤了強化學習和傳統控 制器的優點。與傳統的最佳化求解器相⽐，通過訓練過的強化學習控制器只需更短的 時間即可⽣成可⾏的軌跡，並且結合傳統的軌跡追蹤控制器以利於四旋翼的控制並對 其穩定性和強健性進⾏數學分析。