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The dagger's path
\"When sailors came to Ardhi's homeland, they plundered not only its riches, but its magic, too. Now disgraced islander Ardhi must retrieve what was stolen, but there are ruthless men after this power, men who will do anything to possess it ...\"--Page 4 of cover.
Book
Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots
This paper presents Soft DAgger, an efficient imitation learning-based approach for training control solutions for soft robots. To demonstrate the effectiveness of the proposed algorithm, we implement it on a two-module soft robotic arm involved in the task of writing letters in 3D space. Soft DAgger uses a dynamic behavioral map of the soft robot, which maps the robot’s task space to its actuation space. The map acts as a teacher and is responsible for predicting the optimal actions for the soft robot based on its previous state action history, expert demonstrations, and current position. This algorithm achieves generalization ability without depending on costly exploration techniques or reinforcement learning-based synthetic agents. We propose two variants of the control algorithm and demonstrate that good generalization capabilities and improved task reproducibility can be achieved, along with a consistent decrease in the optimization time and samples. Overall, Soft DAgger provides a practical control solution to perform complex tasks in fewer samples with soft robots. To the best of our knowledge, our study is an initial exploration of imitation learning with online optimization for soft robot control.
Journal Article
Continuity or Great Transformation? Corded Ware Culture Communities in the Lower Oder Region at the Threshold of the Bronze Age (2300–2000 BCE)
This article explores the issue of continuity versus socio-cultural transformation in the Lower Oder region during the Late Neolithic and Early Bronze Age (2300–2000 BCE). An integrated analysis of material culture, settlement patterns, and environmental data highlights the complexity of cultural dynamics in this area. Elements of the Corded Ware Culture (CWC), the Bell Beaker phenomenon (BB), and southern influences linked to the Proto-Únětice Culture (PÚC) have been identified; however, their interrelations cannot be reduced to a simple chronological succession. Particular attention is given to ceramic forms and flint daggers, which reflect local adaptations of the cultural “packages” characteristic of the BB phenomenon, alongside the persistence of CWC traditions. Moreover, palynological evidence provides insights into landscape use and subsistence strategies during this transitional period. The study argues that, rather than undergoing an abrupt cultural rupture, the region experienced a gradual, multifaceted transformation marked by considerable microregional diversity.
Journal Article
Legacies in steel : personalized and historical German military edged weapons 1800-1990
Legacies in Steel' is focused on historical edged weapons of the German military from 1800 to 1990. Nearly 100 examples have been carefully selected from some of the most important private collections in the world as well as German museums, the largest compendium of personalized edged weapons published to date. Through the photographic lens, details of these elegant and beautiful objects are featured.0Many of these edged weapons belonged to nobility, aristocrats, high-ranking military personnel as well as soldiers and seamen. Where possible, the careers and exploits of the former owners are highlighted.
Book
Design of a Deep Learning Model for Bronze Dagger Morphology Classification
In archaeology, buried cultural artifacts serve as important material evidence for distinguishing historical periods, and inferring the morphology and chronology of artifacts excavated from archaeological sites is a crucial task. Buried cultural artifacts can be used as fundamental data for inferring the characteristics of archaeological sites and the scale of past groups that utilized the sites through their morphology and chronological context. In particular, bronze dagger, which are among the buried cultural artifacts excavated from prehistoric sites, exhibit different morphologies according to their periods, making the morphological classification of bronze dagger a key indicator for determining the chronology of archaeological sites. However, the various forms of bronze dagger excavated from the Korean Peninsula to northeastern China show limitations for manual classification by archaeological researchers, and the ambiguous characteristics where forms are not clearly distinguishable create problems in securing consistent objectivity in bronze dagger chronological classification. To overcome these limitations, this paper proposes a framework for automatically classifying bronze dagger morphology using deep learning-based image classification models and quantitative results for bronze dagger classification tasks.
Journal Article
Golden Swords of the Early Nomads of Eurasia: A New Classification and Chronology
The “ceremonial” forms of swords and daggers—that is, bladed weapons decorated with precious metals—occupy a special place in the culture of the early nomads. For the Scythian period, we know at least 76 ceremonial objects from 61 sites, corresponding to 3.5% of the total sample. More than half of the finds come from the northern Black Sea region (mainly Ukraine). Ceremonial forms are represented in all morphological categories (from daggers to extra-long swords), but their distribution is slightly different. Most akinakai belong to the average and long swords. Most Scythian akinakai in Eurasia belong to the dagger and short sword groups. Although most Scythian swords and daggers fall into the Middle Scythian period, most ceremonial forms belong to the last phase of Classical Scythian culture. This period is a veritable “golden autumn” of Scythia with its huge royal burial mounds and abundance of gold, perfectly illustrating our argument that conspicuous consumption coincides with periods of political and social instability. After the peak of the proliferation of ceremonial akinakai in the third quarter of the 4th century BC, we observe a generation later the complete disappearance of Classical Scythian culture, along with its characteristic weapons, horse harnesses, and animal style.
Journal Article
Some new characterizations of bi-dagger matrices
The concept of the bi-dagger matrix was introduced by Hartwig and Spindelböck [8]. In this paper, we provide some new characterizations of bi-dagger matrices. We prove that the index of a bi-dagger matrix is less than or equal to 2 and that a matrix is bi-dagger if and only if it is i-EP, and its index is less than or equal to 2. Specifically, a matrix is bi-dagger if and only if it commutes with its B-T inverse. Finally, we consider Problem 5 in [8] and establish conditions under which a bi-dagger matrix implies bi-normality.
Journal Article