In this thesis, a Zeroth level Classifier System (ZCS) controller is compared to a hand-made controller (which features some simple rules to control the robot). The experiments are done in a world with continuous time and space. Their task is surveillance. The controllers control a LEGO Mindstorms robot with 4 wheels, a touch sensor, a pen device and a camera which can track the pen track. The pen track fades over time, and is used by the controllers to communicate indirectly.

The experiments are done in three worlds. Each experiment features three robots with controllers of one type (either ZCS or hand-made). The ZCS controller has been optimized using a meta-evolutionary algorithm, but this did not yield better results than the not-optimized ZCS controller. Overall, the ZCS controller did not perform as good as the hand-made controller.

<SEQ_REGEXP TYPE="KEYWORD2" HASH_CHAR="&lt;" AT_WORD_START="FALSE">&lt;(\w|&lt;[\w,\s]*&gt;|\s|,)*&gt;</SEQ_REGEXP>
<SEQ_REGEXP TYPE="FUNCTION" HASH_CHARS="abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ." AT_WORD_START="TRUE">(?=\.)?\w*(?=&lt;(\w|&lt;[\w,\s]*&gt;|\s|,)*&gt;\()</SEQ_REGEXP>

Save the file and edit the catalog file. Add

<MODE NAME="java-tokens" FILE="java.xml" FILE_NAME_GLOB="*.java" />

.

Now save the file and start jEdit. Now, the generics inside Java files should be highlighted.

In Windows, the procedure is the same, but the file locations may differ

Download eerst je subversion files:

1. mkdir PROJECT
   bzr init-repo PROJECT
   cd PROJECT
   bzr svn-import http://
   /my_svn

   I use bzr with the ‘svn-import’ module. Of course, you can also use svn checkout.

2. Remove the traces to the old svn repository. If you just used svn checkout, you have to remove other maps or files.

   cd my_svn
   rm -rf .bzr

3. Rename your directory to a logical name (mine didn’t had one). I will rename my own branch to ‘trunk’:

   cd ..
   mv my_svn/ trunk/
   bzr init ftp://ftp.mysite.nl/PROJECT
   cd trunk
   bzr add
   bzr commit -m "Initial commit"

If you want to checkout on another location, use the command:

bzr co ftp://ftp.mysite.nl/PROJECT/trunk

1. Type ifconfig in a terminal. Write down the names of all interfaces (like eth0, wlan0, wmaster, etc). Maybe you have more. Ignore the ‘lo’ interface.
2. Open the file /etc/init.d/alsa-utils by typing the command sudo gedit /etc/init.d/alsa-utils. Near line 353, you will see a line containing stop). For every interface you have, add the following lines:

   ifconfig eth0 down
   ifconfig wlan0 down

   etc.

3. The file will look like this:

   stop)
   	ifconfig wlan0 down
   	ifconfig eth0 down
   	EXITSTATUS=0
   

Save the file, and hopefully your computer will power down again!

First, we have to add support for OpenSync and SyncML to Ubuntu. We’ll do this by entering the command:

sudo apt-get install multisync0.90 multisync-tools libsyncml-utils opensync-plugin-syncml opensync-plugin-evolution

OpenSync is able to synchronize using bluetooth and USB. The bluetooth connection is preferred for communicating; For USB, you have to execute all commands as super user. You can find a bluetooth guide here.

The USB connection is only available for the super user. I’m going to sync my phone with Evolution, and thus I can only sync the super user’s contacts and calendar.
First, we start Evolution with the command ‘sudo evolution’. Create a new address book and a new calendar. Give them a name like ‘N95′.

Quit Evolution and start the multisync GUI with the command ‘sudo multisync0.90′. Click ‘add’, give the profile a name (I use ‘n95-evo’) and disable syncing of note, data and todo by tapping them. Click on ‘add member’ and add ‘Evolution 2.x’. Select the correct address book and calendar.

We have to add our Nokia N95 client. Thus, click ‘add member ‘ and select ‘SyncML over OBEX Client’. The settings for this member are a little bit more difficult. We have to adjust some settings: ‘identifier’ should be something like ‘linux’ (remember this one!). And, most important: change the value of ‘type’ to 5, so we can make a connection using USB instead of bluetooth. My config file looks like this:

<config>
	<interface>0</interface>
	<identifier>Laptop</identifier>
	<version>1</version>
	<wbxml>1</wbxml>
	<username></username>
	<password></password>
	<type>5</type>
	<usestringtable>1</usestringtable>
	<onlyreplace>0</onlyreplace>
	<recvLimit>0</recvLimit>
	<maxObjSize>0</maxObjSize>
	<contact_db>Contacts</contact_db>
	<calendar_db>Calendar</calendar_db>
	<note_db>Notes</note_db>
</config>

On your phone, go to Menu > Tools > Sync. Navigate to PC Suite, but do not select it yet! Click Options > New sync profile and copy the values of PC Suite. Change the name to something logical (let’s say ‘laptop’) and go to laptop > edit sync profile> connection settings > host address. Here, enter the name of the ‘identifier’ setting of multisync.

Now, we are ready to sync! Quit Evolution and multisync and type ‘sudo msynctool –sync n95-evo’. Let’s hope your phone starts syncing now !

Overview

1. Download POIs
2. Convert to .lmx
3. Copy to phone and import

Download POIs

To load your POIs into Nokia Mpas 2.0, you first have to download the POIs (of course . You’ll need GPSbabel (http://www.gpsbabel.org/) to convert the POIs to the desired Nokia Maps format.

After installing GPSbabel, copy your POI file to the installation map of GPSbabel. As most POIs on the internet are available in the TomTom binary .ov2 format, I will use that format in this small tutorial. I also provide commands for the .gpx format.

Convert to .lmx

Start the command line (cmd.exe) and navigate to your GPSbabel directory. Convert your .ov2 file by entering the command:

gpsbabel -i tomtom -o lmx poi.ov2 poi.lmx

If you have a .gpx file:

gpsbabel -i gpx -o kml poi.gpx poi.kml
gpsbabel -i kml -o lmx poi.kml poi.lmx

Copy to phone and import

The file is converted to .lmx now, which is the format used by Nokia Maps 2.0. Copy the file to the memory card of your phone.

On your phone, navigate to the file (by using a file browser like X-plore) and open it. The program lmkmsgviewer (Landmark Messager Viewer) starts and shows all POIs.
Choose ‘Save’ –> ‘All places’ and the POIs will show up in your Nokia Maps 2.0. They are stored as favorites.

Update for Sygic McGuider 7.7

Download Ov2Upi Translator 2.9 and check the mark for Sygic McGuider 7.7!
The solution below does not work for version 7.7. You have to follow the steps below to create a ‘upi’ file, but after that step, you have to download POI converter from Sygic’s site. Open the program and create a ‘upi’ file with ‘Create Unicode Textfile from UPI’. After saving the file, choose ‘Create UPI from Textfile’. Select the just created upi file and also select an icon. If you do not have an icon, you can look into one of the sub directories of POI Converter. Now, the just created upi file is readable by Sygic McGuider 7.7!
(If you want an icon inside Sygic McGuider, you have to copy your icon to \res\icons on your memory stick.)

Overview

1. Convert POIs to .ov2
2. Convert .ov2 to .upi
3. Copy to Sygic McGuider

The overview shows a lot of converting – that’s because both POI converting programs I use RouteConverter and GPSbabel), do not support Sygic McGuider’s POI format.

1a. Convert POIs to .ov2 using RouteConverter

We can use RouteConverter to convert all our POIs to the well-known (TomTom binary) format ‘.ov2‘. Just open the POI file with RouteConverter and save as ‘TomTom POI (*.ov2)’.

1b. Convert POIs to .ov2 using GPSbabel

Alternatively, you can use GPSbabel to convert the files. GPSbabel is a command line program, and is less intuitive as RouteConverter, but is actually a lot more powerful. So if you want to convert a bunch of files or the format is not supported by RouteConverter, please try GPSbabel.
To convert, for example, .gpx files to .ov2, use the following commands:

gpsbabel -i gpx -o kml poi.gpx poi.kml
gpsbabel -i kml -o tomtom poi.kml poi.ov2

If you’ve got different formats, you have to alter the first command.

Convert .ov2 to .upi

.upi is the format used by Sygic McGuider. As it is a binary format, is is not supported by the widely used tools. One which does, is Ov2Upi Translator 2.9. It is a rather simple program: mark ‘translate in series’, press .ov2-->.upi and open your just created (or downloaded) .ov2 file. The program will create your .upi file in seconds.
Did you encouter an ‘Initialization Error’? Then, you need to install the .NET Framework from Microsoft. You can download it here.

Copy to Sygic McGuider

The last step, and the most simple one: copy the .upi file to the memory card of your Sygic McGuider. You have to paste the file into a sub map of ‘\maps’. The POIs will now show up on all cards which include that country. So, of you want to have your POIs inside the The Netherlands map, copy them to ‘\maps\nld\’. Happy driving!