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Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning

作者： Hans, Alexander Duell, Siegmund Udluft, Steffen Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Corporate Technology Munich Munich Germany

ISBN: (纸本)9781424498888

With the development of data-efficient reinforcement learning (RL) methods, a promising data-driven solution for optimal control of complex technical systems has become available. For the application of RL to a technical system, it is usually required to evaluate a policy before actually applying it to ensure it operates the system safely and within required performance bounds. In benchmark applications one can use the system dynamics directly to measure the policy quality. In real applications, however, this might be too expensive or even impossible. Being unable to evaluate the policy without using the actual system hinders the application of RL to autonomous controllers. As a first step toward agent self-assessment, we deal with discrete MDPs in this paper. We propose to use the value function along with its uncertainty to assess a policy's quality and show that, when dealing with an MDP estimated from observations, the value function itself can be misleading. We address this problem by determining the value function's uncertainty through uncertainty propagation and evaluate the approach using a number of benchmark applications. © 2011 IEEE.

关键词： Reinforcement learning

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An EMG-controlled Neuroprosthesis for Daily Upper Limb Support: a preliminary study

An EMG-controlled Neuroprosthesis for Daily Upper Limb Suppo...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Emilia Ambrosini Simona Ferrante Marta Tibiletti Thomas Schauer Christian Klauer Giancarlo Ferrigno Alessandra Pedrocchi NeuroEngineering and Medical Robotics Laboratory within the Bioengineering Department of Politecnico di Milano Control Systems Group Technische Universitat of Berlin

ISBN: (纸本)9781424441211

MUNDUS is an assistive platform for recovering direct interaction capability of severely impaired people based on upper limb motor functions. Its main concept is to exploit any residual control of the end-user, thus being suitable for long term utilization in daily activities. MUNDUS integrates multimodal information (EMG, eye tracking, brain computer interface) to control different actuators, such as a passive exoskeleton for weight relief, a neuroprosthesis for arm motion and small motors for grasping. Within this project, the present work integreted a commercial passive exoskeleton with an EMG-controlled neuroprosthesis for supporting hand-to-mouth movements. Being the stimulated muscle the same from which the EMG was measured, first it was necessary to develop an appropriate digital filter to separate the volitional EMG and the stimulation response. Then, a control method aimed at exploiting as much as possible the residual motor control of the end-user was designed. The controller provided a stimulation intensity proportional to the volitional EMG. An experimental protocol was defined to validate the filter and the controller operation on one healthy volunteer. The subject was asked to perform a sequence of hand-to-mouth movements holding different loads. The movements were supported by both the exoskeleton and the neuroprosthesis. The filter was able to detect an increase of the volitional EMG as the weight held by the subject increased. Thus, a higher stimulation intensity was provided in order to support a more intense exercise. The study demonstrated the feasibility of an EMG-controlled neuroprosthesis for daily upper limb support on healthy subjects, providing a first step forward towards the development of the final MUNDUS platform.

关键词： Neural Prostheses End users Electromyogram Upper Extremity Filters shelling controllers control of movement Grasp

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Actuator delayed active vehicle suspension control: A T-S fuzzy approach

Actuator delayed active vehicle suspension control: A T-S fu...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Hongyi Li Honghai Liu Huijun Gao Intelligent Systems & Biomedical Robotics Group School of Creative Technologies University of Portsmouth Portsmouth UK Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

This paper focuses on fuzzy H ∞ controller design for uncertain active suspension systems with actuator delay based on Takagi-Sugeno (T-S) model approach. This dynamic system is presented by taking into account the sprung and unsprung mass variations, the actuator delay, and the suspension performance. The fuzzy H ∞ controller is designed such that the resulting T-S fuzzy system is asymptotically stable and guarantees H ∞ performance, and simultaneous satisfying the constraint performance. The existence condition of fuzzy H ∞ control is obtained in terms of linear matrix inequalities (LMIs) and can be solved by using the standard software. A quarter-car suspension model is provided to validate the effectiveness of the proposed design procedures.

关键词： Suspensions Vehicles Roads Tires Actuators Delay Fuzzy systems

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A Distance and Diversity Measure for Improving the Evolutionary Process of Modular Robot Organisms

A Distance and Diversity Measure for Improving the Evolution...

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IEEE International Conference on robotics and Biomimetics

作者： Lutz Winkler Heinz Worn Adrian Friebel Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT Research Group for Multicellular Systems Biology Interdisciplinary Centre for Bioinformatics (IZBI) University of Leipzig

ISBN: (纸本)9781457721366

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution.

关键词： Organism Modular robots Evolutionary health evolution evolution evolution Elements

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Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Alexander Hans Siegmund Duell Steffen Udluft Neuroinformatics and Cognitive Robotics Laboratory Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Munich Germany

关键词： Uncertainty Equations Markov processes Benchmark testing Approximation algorithms Machine learning Histograms

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Modelling of FAST equilibrium configurations by a Toroidal Multipolar Expansion code using Kepler workflows

Modelling of FAST equilibrium configurations by a Toroidal M...

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37th EPS Conference on Plasma Physics 2010, EPS 2010

作者： Calabrò, G. Giovannozzi, E. Ramogida, G. Crisanti, F. Labate, C. Mattei, M. Micozzi, P. Pizzuto, A. Sadeghi, Y. Vlad, G. Associazione Euratom-ENEA Via Enrico Fermi 46 0044 Frascati Italy Associazione Euratom-ENEA-CREATE Univ. Napoli Federico- II Via Claudio 21 I-80125 Napoli Italy Università di Roma Tor Vergata Control System and Robotics Group Department of Computer Science Systems and Production Via del Politecnico 1 I-00133 Roma Italy

ISBN: (纸本)9781622763313

In this paper we present the fusion advanced studies torus (FAST) equilibrium configurations, designed by means of the ITM FIXFREE code version for reproducing those of ITER (with scaled plasma current) and suitable to fulfil plasma conditions for integrated studies of plasma-wall interaction, burning plasma physics, ITER relevant operation problems and steady state scenarios. FIXFREE is a toroidal multipolar expansions equilibrium code, recently ported to the Integrated Tokamak Modelling (ITM) Gateway platform. The European ITM Task Force opted for the open source workflow system Kepler to link various codes and coordinate the data flow among them. A description of the development of the FIXFREE code under the Kepler environment will be given in this paper.

关键词： Codes (symbols)

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Patient-cooperative control: Adapting robotic interventions to individual human capabilities

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World Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural systems, Rehabilitation and Prosthetics

作者： Duschau-Wicke, Alexander Brunsch, Thomas Felsenstein, Simon Vallery, Heike Riener, Robert Sensory-Motor Systems Lab. Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Control Systems Group Technical University Berlin Germany Hocoma AG Volketswil Switzerland

ISBN: (纸本)9783642038884

Patient-cooperative control strategies aim at improving the efficacy of current rehabilitation robots. The key aspects of these strategies are the transparency of the robots, constraints for safety and guidance, and individual interventions. Within the frame of transparency and constraints, interventions of challenging or facilitating nature can be applied. In this paper, we propose a way of providing facilitating interventions by force fields or global parameters, which are adapted by iterative learning control. We evaluate this approach in two scenarios with the rehabilitation robot Lokomat;first, to assist knee extension during stance phase, and second, to modulate how actively human subjects participate in bearing their own body weight. Both examples show that iterative learning control algorithms provide a feasible way to allow patients to train at a continuously challenging level according to their individual capabilities. © 2009 Springer-Verlag.

关键词： Transparency

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Band-limited guidance and control of large parafoils

Band-limited guidance and control of large parafoils

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作者： Carter, David Singh, Leena Wholey, Leonard Rasmussen, Scott Barrows, Tim George, Sean McConley, Marc Gibson, Chris Tavan, Steve Bagdonovich, Brian Draper Laboratory 555 Technology Square Cambridge MA 02459 United States US Army Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group MS 15 United States Aerospace Guidance and Control Group MS 70 United States Tactics Guidance and Control Group MS 77 United States Cognitive Robotics Group MS 77 United States Manned Space Systems Group MS 70 United States Vehicle and Robotics Group MS 23 United States Navigation and Localization Group MS 77 United States Tactical Systems Program Office MS 79 United States NSRDEC 15 Kansas Street United States

ISBN: (纸本)9781563479724

The Natick Soldier Research Development and Engineering Center has been leading an effort to develop precision guided airdrop systems to accommodate cargo weights from 1 pound to 42,000 pounds. This paper describes flight software developed by Draper Laboratory for one of the largest of these systems. Copyright © 2009 by The Charles Stark Draper Laboratory, Inc.

关键词： Precision engineering

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Qualitative analysis of spatio-temporal event detectors

Qualitative analysis of spatio-temporal event detectors

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作者： Kaiser, Benedikt Heidemann, Gunther Institute for Process Control and Robotics Building 40 University of Karlsruhe 28 Kaiserstr. 12 D-76128 Karlsruhe Germany Intelligent Systems Group Stuttgart University Universitätsstr. 38 D-70569 Stuttgart Germany

ISBN: (纸本)9781424421756

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture "corners" - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible. © 2008 IEEE.

关键词： Edge detection

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Qualitative analysis of spatio-temporal event detectors

Qualitative analysis of spatio-temporal event detectors

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International Conference on Pattern Recognition

作者： Benedikt Kaiser Gunther Heidemann Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Intelligent Systems Group University of Stuttgart Stuttgart Germany

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture ¿corners¿ - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible.

关键词： Event detection Detectors Motion analysis Motion detection Image edge detection Image sequences Image analysis Image motion analysis Image sequence analysis Visualization

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