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An analysis of feature-based and state-based representations for module-based learning in mobile robots

An analysis of feature-based and state-based representations...

引用

HIS 2005: Fifth International Conference on Hybrid Intelligent Systems

作者： Colombini, Esther L. Ribeiro, Carlos H. C. Division of Computer Science Technological Institute of Aeronautics ITA-IEC-IEES Vila das Acácias12228-900 São José dos Campos SP Brazil

ISBN: (纸本)0769524575

The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant information. In this work, we implement a solution that uses qualitative and quantitative knowledge to turn robot tasks able to be treated by Reinforcement Learning (RL) algorithms. The steps of this procedure include: 1) to decompose the overall task into smaller ones, using abstraction and macro-operators, thus achieving a discrete action space;2) to use observation functions of the environment - here called features - to achieve both time and state space discretisation;3) to use quantitative knowledge to design controllers that are able to solve the subtasks;4) to learn the coordination of these behaviours using RL, more specifically Q-learning, The approach was verified on an increasingly complex set of robot tasks using a Khepera robot simulator. Two approaches for space discretisation were used, one based on features and the other on states. The learned policies over these two models were compared to a predefined hand-crafted one. It was found that the learned policy over the state-based discretisation leads quickly to good results, although it can not be applied to complex tasks, where the state space representation becomes computationally unfeasible. © 2005 IEEE.

关键词： Learning algorithms

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A real time UML modeling for satellite on board software

A real time UML modeling for satellite on board software

引用

RAST 2005 - 2nd International Conference on Recent Advances in Space Technologies

作者： dos Santos, Walter A. Martins, Osvandre A. Da Cunha, Adilson M. National Space Research Institute INPE Space Systems Division Av. Dos Astronautas 1758 CEP 12227-010 S. Jose dos Campos-SP Brazil Brazilian Aeronautical Institute of Technology Department of Computer Science Praça Mal. Eduardo Gomes 50 CEP 12228-900 S. Jose dos Campos-SP Brazil

ISBN: (纸本)0780389778

This paper describes the use of UML to aid developing real time on-board software for satellites, as a safety-critical system. In order to expedite development, an Integrated-computer Aided Software Engineering-Environment (I-CASE-E) tailored for real time applications is used. To keep the approach general, the satellite under consideration has a 3-axis stabilized bus with a generic payload. The I-CASE-E allows for model execution where one can find problems and issues that whiteboarding and document reviews are unable to find. Moreover, an incremental development can be effectively attained even in high-level architectural models. Major expected findings are higher quality software and more predictable delivery cycles. © 2005 IEEE.

关键词： Space applications

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On the road to ESD safe GaAs HBT MMICs

On the road to ESD safe GaAs HBT MMICs

引用

2005 IEEE Compound Semiconductor Integrated Circuit Symposium, CSIC

作者： Ma, Yintat Li, G.P. Integrated Nanosystems Research Facility Department of Electrical Engineering and Computer Science University of California Irvine CA 92697 Rockwell Scientific 1049 Camino Dos Rios Thousand Oaks CA 91360

In order to design a robust electrostatic discharge (ESD) protected microwave monolithic integrated circuits (MMICs) in GaAs HBTs, a comprehensive assessment of device vulnerability to ESD events is presented. The results include not only the intrinsic HBT's ESD robustness performance but also its dependence on device layout, ballast resistor and process. Low capacitance loading ESD protection circuits for power and broadband amplifiers are also introduced to further improve the MMICs' ESD robustness alone with examples. © 2005 IEEE.

关键词： Heterojunction bipolar transistors

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Discrete-time systems neuro-riccati equation solution

Discrete-time systems neuro-riccati equation solution

引用

International Joint Conference on Neural Networks, IJCNN 2005

作者： Tamariz, Annabell D. R. Bottura, Celso P. Nucleus of Research and Development in Computer Science University Cndido Mendes UCAM-Campos Campos dos Goytacazes RJ Brazil Intelligent Systems and Control Laboratory State University of Campinas UNICAMP Campinas SP Brazil

ISBN: (纸本)0780390482

In this article proposal for solving the Discrete-Time Algebraic Riccati Equation (DARE) using a multilayer Recurrent Neural Network (RNN) approach is presented. Systems of coupled matricial nonlinear differential equations are derived describing the neural dynamics of the Neuro-Riccati equation. By solving these coupled matrix equations using recurrent neural networks a symmetric and positive definite solution is obtained. Several examples demonstrate the effectiveness of this proposal and respective implementation. © 2005 IEEE.

关键词： Riccati equations

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An analysis of feature-based and state-based representations for module-based learning in mobile robots

An analysis of feature-based and state-based representations...

引用

International Conference on Hybrid Intelligent Systems (HIS)

作者： E.L. Colombini C.H.C. Ribeiro Division of Computer Science Technological Institute of Aeronautics-ITA SaO Jose dos Campos Brazil

The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant information. In this paper, we implement a solution that uses qualitative and quantitative knowledge to turn robot tasks able to be treated by reinforcement learning (RL) algorithms. The steps of this procedure include: 1) to decompose the overall task into smaller ones, using abstraction and macro-operators, thus achieving a discrete action space; 2) to use observation functions of the environment - here called features - to achieve both time and state space discretisation; 3) to use quantitative knowledge to design controllers that are able to solve the subtasks; 4) to learn the coordination of these behaviours using RL, more specifically Q-learning. The approach was verified on an increasingly complex set of robot tasks using a Khepera robot simulator. Two approaches for space discretisation were used, one based on features and the other on states. The learned policies over these two models were compared to a predefined hand-crafted one. It was found that the learned policy over the state-based discretisation leads quickly to good results, although it can not be applied to complex tasks, where the state space representation becomes computationally unfeasible.

关键词： Mobile robots Robot kinematics Orbital robotics Learning Robot sensing systems State-space methods Space technology computer science Manufacturing Mathematical model

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Diagnosis of lung nodule using reinforcement learning and geometric measures

引用

4th International Conference on Machine Learning and Data Mining in Pattern Recognition, MLDM 2005

作者： Silva, Aristoáfanes Correâ Da Silva Jr., Valdeci Ribeiro De Neto, Areolino Almeida De Paiva, Anselmo Cardoso Federal University of Maranhão - UFMA Department of Electrical Engineering Campus do Bacanga Av. dos Portugueses SN Bacanga 065085-580 Sao Luis MA Brazil Federal University of Maranhão - UFMA Department of Computer Science Campus do Bacanga Av. dos Portugueses SN Bacanga 65085-580 Sao Luis MA Brazil

ISBN: (纸本)3540269231

This paper uses a set of 3D geometric measures with the purpose of characterizing lung nodules as malignant or benign. Based on a sample of 36 nodules, 29 benign and 7 malignant, these measures are analyzed with a technique for classification and analysis called reforcement learning. We have concluded that this techiniqne allows good discrimination from benign to malignant nodules. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Learning systems

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Comparison of FLDA, MLP and SVM in diagnosis of lung nodule

引用

4th International Conference on Machine Learning and Data Mining in Pattern Recognition, MLDM 2005

作者： Silva, Aristófanes Corrêa De Paiva, Anselmo Cardoso De Oliveira, Alexandre Cesar Muniz Federal University of Maranhão - UFMA Department of Electrical Engineering Campus do Bacanga Av. dos Portugueses SN Bacanga 65085-580 Sao Luis MA Brazil Federal University of Maranhão - UFMA Department of Computer Science Campus do Bacanga Av. clos Portugueses SN Bacanga 65085-580 Sao Luis MA Brazil

ISBN: (纸本)3540269231

The purpose of the present work is to compare three classifiers: Fisher's Linear Discriminant Analysis, Multilayer Perception and Support Vector Machine to diagnosis of lung nodule. These algorithms are tested on a database with 36 nodules, being 29 benigns and 7 malignants. Results show that the three algorithms had similar performance on this particular task. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Multilayer neural networks

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InGaP/GaAs HBT DC-20 GHz distributed amplifier with compact ESD protection circuits

InGaP/GaAs HBT DC-20 GHz distributed amplifier with compact ...

引用

2004 Electrical Overstress/Electrostatic Discharge Symposium, EOS/ESD '04

作者： Ma, Yintat Li, G.P. Integrated Nanosystems Research Facility Department of Electrical Engineering and Computer Science University of California Irvine CA 92697 United States Rockwell Scientific 1049 Camino Dos Rios Thousand Oaks CA 91360 United States

ISBN: (纸本)1585370630

This paper presents design considerations and implementation of InGaP/GaAs HBT DC-20 GHz distributed amplifier with compact ESD protection circuits. The inherit benefits of both bandwidth and ESD robustness of distributed amplifiers are first compared to those of single-ended feedback amplifiers. Next, novel on-chip ESD protection circuits are introduced, featuring low capacitance loading for wide bandwidth, low leakage, and good linearity under high RF power. This paper discusses the principle of operation and performance of the ESD protection circuits, and the RF loading to the distributed amplifier. The RF performance and ESD robustness of the distributed amplifier are also discussed.

关键词： Timing circuits

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Equatorial spread F irregularity characteristics over São Luís, Brazil, using VHF radar and GPS scintillation techniques

Equatorial spread F irregularity characteristics over São L...

引用

作者： Rodrigues, F.S. De Paula, E.R. Abdu, M.A. Jardim, A.C. Iyer, K.N. Kintner, P.M. Hysell, D.L. Inst. Nac. de Pesq. Espaciais DAE S. Jose dos Campos Sao Paulo Brazil Department of Earth Science Cornell University Ithaca NY United States Department of Physics Saurashtra University Rajkot-Gujarat India Sch. of Elec./Computer Engineering Cornell University Ithaca NY United States Aeronomy Division Inst. Natl. de Pesquisas Espaciais Av. dos Astronautas 1758 CP 515 Sao Jose dos Campos-SP Brazil Earth Science Department Cornell University 2108 Snee Hall Ithaca NY 14853-3801 United States India Sch. of Elec./Computer Engineering Cornell University 302 Rhodes Hall Ithaca NY 14853-3801 United States Earth Science Department Cornell University 2122 Snee Hall Ithaca NY 14853 United States

Multitechnique observations may considerably improve our understanding of factors responsible for the generation, growth, and dynamics of the destabilized nighttime equatorial F region plasma irregularities. In order to investigate the dynamics of plasma density irregularities of different scale sizes, a campaign of observations was conducted during 11-20 November 2001 at the Brazilian magnetic equatorial station São Luís (2.57°S, 44.21°W, dip latitude 1.73°S). We carried out observations using VHF coherent backscatter radar, two spaced GPS-based scintillation monitors, and one digisonde. Range type spread F on ionograms and radar plume signatures on range-time-intensity maps of the VHF radar started at similar times. In order to compare GPS L1 (1.575 GHz) scintillations and radar plumes we used the scintillation S4 index computed for the signal transmitted by the highest elevation satellite. GPS scintillations were not observed during the initial bottom-type layer shown by the radar;however, stronger scintillations (higher S4 values) were observed concurrently to stronger radar echoes. Although the time duration of GPS scintillation is longer than the duration of the plumes observed by the radar, ionosonde spread F is still much longer than scintillation occurrence, confirming that smaller scale-size irregularities decay faster. Zonal and vertical velocities of 5-m irregularities measured by the radar were analyzed jointly with the apparent zonal velocity of ∼400-m irregularities measured by the spaced-receiver scintillation method. Larger values of the zonal velocity measured by the scintillation technique were found during the explosive growth phase of radar plumes associated with large values of vertical drifts measured by the radar.

关键词： Global positioning system

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Extending the operational semantics of a BDI agent-oriented programming language for introducing speech-act based communication 1

引用

First International Workshop, DALT 2003: Declarative Agent Languages and Technologies

作者： Moreira, Álvaro F. Vieira, Renata Bordini, Rafael H. Departamento de Informática Teórica Institute de Informática Universidade Federal do Rio Grande do Sul Porto Alegre RS 91501-970 Brazil Centro de Ciências Exatas Universidade do Vale do Rio dos Sinos CP 275 CEP 93022-000 Sao Leopoldo RS Brazil Department of Computer Science University of Liverpool Liverpool L69 7ZF United Kingdom

ISBN: (纸本)9783540221241

Work on agent communication languages has since long striven to achieve adequate speech act semantics;partly, the problem is that references to an agent's architecture (in particular a BDI-like architecture) would be required in giving such semantics more rigorously. On the other hand, BDI agent-oriented programming languages have had their semantics formalised for abstract versions only, neglecting practical aspects such as communication primitives;this means that, at least in what concerns communication, implementations of BDI programming languages have been ad hoc. This paper tackles, however preliminarily, both these problems by giving semantics to speech-act based messages received by an AgentSpeak(L) agent. AgentSpeak(L) is a BDI, agent-oriented, logic programming language for which interpreters have been developed, and its theoretical foundations are of great interest. Our work here builds upon a structural operational semantics to AgentSpeak(L) that we have given in previous work. The contribution of this paper is two-fold: we here extend our earlier work on providing a solid theoretical background on which to base existing implementations of AgentSpeak(L) interpreters, as well as we shed light on a more computationally grounded approach to giving semantics for some key illocutionary forces used in speech-act based agent communication languages. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Semantics

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