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Distributed cooperative formation control of a team of mobile robots

Distributed cooperative formation control of a team of mobil...

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39th International Symposium on Robotics, ISR 2008

作者： Yasuda, Gen'ichi Ge, Bin Department of Human and Computer Intelligence Nagasaki Institute of Applied Science 536 Aba-machi Nagasaki 851-0193 Japan Liao Ning Key Lab of Intelligent Information Processing Dalian University Economic and Technical Development Zone Dalian 116622 China

This paper presents an experimental study of distributed cooperative formation control of a team of autonomous mobile robots. Formation control demands that a team of robots keep a specified pattern while moving in a cluttered environment. So reactive control behaviors for keeping formation and obstacle avoidance are described. The behavioral decision to direct the movement of robot is made by the arbitration of primitive behaviors. For a team of two robots, control experiments were conducted using small mobile robots with infrared photo transistors and LEDs mounted on the front and back of the robot body, respectively. Simulations and real experiments using two mobile robots were successfully performed.

关键词： Mobile robots

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Skill characterization based on betweenness 08

Skill characterization based on betweenness

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Proceedings of the 22nd International Conference on Neural Information Processing Systems

作者： Özgür Şimşek Andrew G. Barto Department of Computer Science University of Massachusetts Amherst MA and Max Planck Institute for Human Development Center for Adaptive Behavior and Cognition Berlin Germany Department of Computer Science University of Massachusetts Amherst MA

ISBN: (纸本)9781605609492

We present a characterization of a useful class of skills based on a graphical representation of an agent's interaction with its environment. Our characterization uses betweenness, a measure of centrality on graphs. It captures and generalizes (at least intuitively) the bottleneck concept, which has inspired many of the existing skill-discovery algorithms. Our characterization may be used directly to form a set of skills suitable for a given task. More importantly, it serves as a useful guide for developing incremental skill-discovery algorithms that do not rely on knowing or representing the interaction graph in its entirety.

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Cognitive constructor: An intelligent tutoring system based on a biologically inspired cognitive architecture (BICA)

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作者： Samsonovich, Alexei V. De Jong, Kenneth A. Kitsantas, Anastasia Peters, Erin E. Dabbagh, Nada Layne Kalbfleisch, M. Krasnow Institute for Advanced Study George Mason University United States Computer Science Department George Mason University United States College of Education and Human Development George Mason University Fairfax VA 22030-4444 United States

ISBN: (纸本)9781586038335

Significant progress can be made in the part of elementary school education that relies on intelligent tutoring systems (ITS), if the role of a referee and a peer advisor will be performed by a pedagogical agent that is a computer implementation of a cognitive architecture modeling the process of learning. Recent studies in cognitive architectures funded by the DARPA IPTO BICA Program have identified the key potential of feasible today artificial intelligence as bootstrapped cognitive growth (i.e., gradual acquisition of knowledge and skills using previously acquired knowledge and skills), up to a human level of intelligence in a selected domain. This approach is not limited to laboratory settings and short-term paradigms, it is intended for a long-term, open-ended learning scenario in real-world settings. Several cognitive architectures were designed for this purpose, among which is GMU BICA, a self-aware biologically inspired cognitive architecture. Here we describe a computational model of student learning based on GMU BICA and its use as an ITS called Cognitive Constructor, which has two components called a science Microworld and a Pedagogical Agent (GMU BICA agent). Results of our analysis show that the system will be useful in elementary school education. © 2008 The authors and IOS Press. All rights reserved.

关键词： Education computing

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Self-awareness as metacognition about own self concept

Self-awareness as metacognition about own self concept

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2008 AAAI Workshop

作者： Samsonovich, Alexei V. Kitsantas, Anastasia Dabbagh, Nada De Jong, Kenneth A. Krasnow Institute for Advanced Study George Mason University Fairfax VA 22030 United States College of Education and Human Development George Mason University Fairfax VA 22030 United States Computer Science Department George Mason University Fairfax VA 22030 United States

ISBN: (纸本)9781577353751

Implementation of agency in a cognitive system implies that certain beliefs, values and/or goals represented in the system become, if implicitly, attributed to the self of the agent. When the cognitive system becomes explicitly aware of this attribution, it acquires a self-regulation capacity allowing it to control, modify and develop its self-concept together with the attitudes attributed to the self, adjusting to dynamically changing contexts and personal experience. The leverage of self-awareness understood in this sense consists in increased robustness, flexibility and integrity of the cognitive system, as illustrated by a paradigm of self-regulated learning. Copyright © 2008, Association for the Advancement of Artificial Intelligence.

关键词： Cognitive systems

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Confidence scores for acoustic model adaptation

Confidence scores for acoustic model adaptation

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Christian Gollan Michiel Bacchiani Human Language Technology and Pattern Recognition Computer Science Department 6 RWTH Aachen University Germany Google Inc. New York NY USA

This paper focuses on confidence scores for use in acoustic model adaptation. Frame-based confidence estimates are used in linear transform (CMLLR and MLLR) and MAP adaptation. We show that adaptation approaches with a limited number of free parameters such as linear transform-based approaches are robust in the face of frame labeling errors whereas adaptation approaches with a large number of free parameters such as MAP are sensitive to the quality of the supervision and hence benefit most from use of confidences. Different approaches for using confidence information in adaptation are investigated. This analysis shows that a thresholding approach is effective in that it improves the frame labeling accuracy with little detrimental effect on frame recall. Experimental results show an absolute WER reduction of 2.1% over a CMLLR adapted system on a video transcription task.

关键词： Adaptation model Maximum likelihood linear regression Parameter estimation Speech Robustness Labeling Multimedia systems humans Pattern recognition computer science

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Using output probability distribution for oov word rejection

Using output probability distribution for oov word rejection

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IEEE Spoken language Technology Workshop

作者： Shilei Huang Xiang Xie Pascale Fung Human Language Technology Center Department of Electronic and Computer Engineering University of Science and Technology (HKUST) Hong Kong China Research Institute of Communication Technology School of Information Science and Technology Beijing Institute of Technology China

This paper proposes a method to calculate the confidence score for out-of-vocabulary (OOV) word verification based on the Output Probability Distribution (OPD) of phoneme HMMs. Compared with input vector for dynamic garbage model, OPD vector contains more information than the sorted probabilities. Confidence score of each phoneme is calculated by SVM with OPD vectors as input. Hypotheses are accepted or rejected based on this confidence score. Experimental results showed that the proposed method achieved lower EER in word verification task than the conventional dynamic garbage model.

关键词： Probability distribution Hidden Markov models Support vector machines Speech recognition Support vector machine classification Automatic speech recognition Acoustic devices Context modeling Length measurement humans

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Engineering education societies becoming global

Engineering education societies becoming global

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2008 ASEE Annual Conference and Exposition

作者： Morell, Lueny Borri, Claudio Rajala, Sarah Ramakrishna, Seeran Quadrado, Jose Carlos Petrie, Maria M. Larrondo Fraser, Duncan Laporte, Bruno Garboan, Adriana Fouger, Xavier Hoyer, Hans Hewlett-Packard Department of Chemical Engineering University of Puerto Rico Mayagüez Puerto Rico Universita' di Firenze Department of Computational Mechanics of Structures University of Florence Italy SEFI IFEES Within Socrates II Mississippi State University Department of Electrical and Computer Engineering Mississippi State University National University of Singapore Instituto Superior de Engenharia de Lisboa Portugal ISEL Research and Project Center on Electrical Machines Control and Applications Florida Atlantic University Academic and International Affairs for the College of Engineering and Computer Science Florida Atlantic University International Federation of Engineering Education Societies Latin American and Caribbean Consortium of Engineering Institutions University of Cape Town Academic Development Faculty of Engineering and the Built Environment UCT World Bank Human Development Development Group World Bank Institute Politechnica University of Bucharest Politehnica University of Bucharest Faculty of Electronics and Telecommunications Dassault Systemes Dassault Systemes Global Learning Leads the PLM Academy American Society for Engineering Education International Programs and Strategy ASEE

Globalization is making both developed and developing countries think about effective and efficient strategies that will advance their economies and social development. Throughout the history of civilization, engineering has played a critical role in economic development. Engineers are key not only in solving local problems but also in knowledge creation and knowledge transfer. Thus, it is imperative that technical know-how be supplemented with professional skills to develop an 'adaptive leader' who is capable of addressing the multiple challenges of an ever changing world. The key-question posed by the 21st century global economy to engineering educators and stake-holders is this: "How can education in science and technology help to reduce poverty, boost socio-economic development, and take the right decisions for sustainable and environmental compatible development?" To answer these questions, a global approach is needed: and this can only be accomplished by a "team" which has its roots in all regions of the world, i.e. which is enabled to think globally and then act locally. There's a need to establish effective engineering education processes of high quality around the world to assure a global supply of well-prepared engineering graduates. This paper describes the reasons for the creation in October 2006 of IFEES - the International Federation of Engineering Education Societies. It will describe the vision, mission, and key strategies of IFEES. It will also describe some of the initiatives currently underway and how the various engineering education stakeholders can leverage and benefit from engaging with IFEES, thus strengthening the organizational capacity of engineering education societies throughout the world. The paper will share plans to help members learn from each other's best practices and even failures and how those organizations that have been in existence for quite some time (ASEE was founded in the late 19th century) can contribute to the institutio

关键词： Engineering education

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HKUST Statistical Machine Translation Experiments for IWSLT 2007 4

HKUST Statistical Machine Translation Experiments for IWSLT ...

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4th International Workshop on Spoken language Translation, IWSLT 2007

作者： Shen, Yihai Lo, Chi-Kiu Carpuat, Marine Wu, Dekai Human Language Technology Center HKUST Department of Computer Science University of Science and Technology Hong Kong Hong Kong

This paper describes the HKUST experiments in the IWSLT 2007 evaluation campaign on spoken language translation. Our primary objective was to compare the open-source phrase-based statistical machine translation toolkit Moses against Pharaoh. We focused on Chinese to English translation, but we also report results on the Arabic to English, Italian to English, and Japanese to English tasks. © 2007 International Workshop on Spoken language Translation, IWSLT 2007. All rights reserved.

关键词： Computational linguistics

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A linguistically-based approach to discourse relations recognition

A linguistically-based approach to discourse relations recog...

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4th International Workshop on Natural language Processing and Cognitive science - NLPCS 2007;In Conjunction with ICEIS 2007

作者： Delmonte, Rodolfo Nicolae, Gabriel Harabagiu, Sanda Nicolae, Cristina Human Language Technology Research Institute Department of Computer Science University of Texas at Dallas Richardson TX 75083 United States

ISBN: (纸本)9789728865979

We present an unsupervised linguistically-based approach to discourse relations recognition, which uses publicly available resources like manually annotated corpora (Discourse Graphbank, Penn Discourse Treebank, RST-DT), as well as empirically derived data from "causally" annotated lexica like LCS, to produce a rule-based algorithm. In our approach we use the subdivision of Discourse Relations into four subsets - CONTRAST, CAUSE, CONDITION, ELABORATION, proposed by[7] in their paper, where they report results obtained with a machine-learning approach from a similar experiment, against which we compare our results. Our approach is fully symbolic and is partially derived from the system called GETARUNS, for text understanding, adapted to a specific task: recognition of Causality Relations in free text. We show that in order to achieve better accuracy, both in the general task and in the specific one, semantic information needs to be used besides syntactic structural information. Our approach outperforms results reported in previous papers[9].

关键词： Semantics

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Improving statistical machine translation using word sense disambiguation

Improving statistical machine translation using word sense d...

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2007 Joint Conference on Empirical Methods in Natural language Processing and Computational Natural language Learning, EMNLP-CoNLL 2007

作者： Carpuat, Marine Wu, Dekai Department of Computer Science and Engineering Human Language Technology Center HKUST University of Science and Technology Clear Water Bay Hong Kong Hong Kong

We show for the first time that incorporating the predictions of a word sense disambiguation system within a typical phrase-based statistical machine translation (SMT) model consistently improves translation quality across all three different IWSLT Chinese-English test sets, as well as producing statistically significant improvements on the larger NIST Chinese-English MT task-and moreover never hurts performance on any test set, according not only to BLEU but to all eight most commonly used automatic evaluation metrics. Recent work has challenged the assumption that word sense disambiguation (WSD) systems are useful for SMT. Yet SMT translation quality still obviously suffers from inaccurate lexical choice. In this paper, we address this problem by investigating a new strategy for integrating WSD into an SMT system, that performs fully phrasal multi-word disambiguation. Instead of directly incorporating a Senseval-style WSD system, we redefine the WSD task to match the exact same phrasal translation disambiguation task faced by phrase-based SMT systems. Our results provide the first known empirical evidence that lexical semantics are indeed useful for SMT, despite claims to the contrary. © 2007 Association for Computational Linguistics.

关键词： Semantics

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