Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference

Assisting humans in collaborative tasks is a promising application for robots, however effective assistance remains challenging. In this paper, we propose a method for providing intuitive robotic assistance based on learning from human natural limb coordination. To encode coupling between multiple-limb motions, we use a novel interval type-2 (IT2) polynomial fuzzy inference for modeling trajectory adaptation. The associated polynomial coefficients are estimated using a modified recursive least-square with a dynamic forgetting factor. We propose to employ a Gaussian process to produce robust human motion predictions, and thus address the uncertainty and measurement noise of the system caused by interactive environments. Experimental results on two types of interaction tasks demonstrate the effectiveness of this approach, which achieves high accuracy in predicting assistive limb motion and enables humans to perform bimanual tasks using only one limb

OPTIMIZATION OF PORTFOLIO USING FUZZY SELECTION

The problem of portfolio optimization concerns the allocation of the investor’s wealth between several security alternatives so that the maximum profit can be obtained. One of the methods used is Fuzzy Portfolio Selection to understand it better. This method separates the objective function of return and the objective function of risk to determine the limit of the membership function that will be used. The goal of this study is to understand the application of the Fuzzy Portfolio Selection method over shares that have been chosen on a portfolio optimization problem, understand return and risk, and understand the budget proportion of each claim. The subject of this study is the shares of 20 companies included in Bursa Efek Indonesia from 1 January 2021 until 1 January 2022. The result of this study shows that from 20 shares, there are 10 shares that is suitable in the forming of optimal portfolio, those are ADRO (0%), ANTM (43.3%), ASII (0%), BBCA (0%), BBRI (0%), BBTN (0%), BRPT (0%), BSDE (0%), ERAA (16%), and INCO (40.7%). The expected return from the portfolio is 0.0878895207 or 8.8% for the return and 0.0226022117 or 2.3% for the risk

Quantifying the Impact of Change Orders on Construction Labor Productivity Using System Dynamics

Researchers and industry practitioners agree that changes are unavoidable in construction projects and may become troublesome if poorly managed. One of the root causes of sub-optimal productivity in construction projects is the number and impact of changes introduced to the initial scope of work during the course of project execution. In labor-intensive construction projects, labor costs represent a substantial percentage of the total project budget. Understanding labor productivity is essential to project success. If productivity is impacted by any reasons such as extensive changes or poor managerial policies, labor costs will increase over and above planned cost. The true challenge of change management is having a comprehensive understanding of change impacts and how these impacts can be reduced or prevented before they cascade forming serious problems. This thesis proposes a change management framework that project teams can use to quantify labor productivity losses due to change orders and managerial policies across all phases of construction projects. The proposed framework has three models; fuzzy risk-based change management, AI baseline-productivity estimating, and system dynamics to illustrate cause-impact relationships. These models were developed in five stages. In the first stage, the fuzzy risk-based change management (FRCM) model was developed to prioritize change orders in a way that only essential change orders can be targeted. In this stage, Fuzzy Analytic Hierarchy Process (F-AHP) and Hierarchical Fuzzy Inference System are utilized to calculate relative weights of the factors considered and generate a score for each contemplated change. In the second stage, baseline productivity model was developed considering a set of environmental and operational variables. In this step, various techniques were used including Stepwise, Best Subset, Evolutionary Polynomial Regression (EPR), General Regression Neural Network (GRNN), Artificial Neural Network (ANN), Radial Basis Function Neural Network (RBFNN), and Adaptive Neuro Fuzzy Inference System (ANFIS) in order to compare results and choose the best method for producing that estimate. The selected method was then used in the development of a novel AI model for estimating labor productivity. The developed AI model is based on Radial Basis Function Neural Network (RBFNN) after enhancing it by raw dataset preprocessing and Particle Swarm Optimization (PSO) to extract significant dataset features for better generalization. The model, named PSO-RBFNN, was selected over other techniques based on its statistical performance and was used to estimate the baseline productivity values used as the initial value in the developed system dynamics (SD) model. In the fourth stage, a novel SD model was developed to examine the impact of change orders and different managerial decisions in response to imposed change orders on the expected productivity during the lifecycle of a project. In other words, the SD model is used to quantify the impact of change orders and related managerial decisions on excepted productivity. The SD model boundary was defined by clustering key variables into three categories: exogenous, endogenous, and excluded. The relationships among these key variables were extracted from the literature and experts in this domain. A holistic causal loop diagram was then developed to illustrate the interaction among various variables. In the final stage, the developed computational framework and its models were verified and validated through a real case study and the results show that the developed SD model addresses various consequences derived from a change in combination with the major environmental and operational variables of the project. It allows for the identification and quantification of the cumulative impact of change orders on labor productivity in a timely manner to facilitate the decision-making process. The developed framework can be used during the development and execution phases of a project. The findings are expected to enhance the assessment of change orders, facilitate the quantification of productivity losses in construction projects, and help to perform critical analysis of the impact of various scope change internal and external variables on project time and cost

PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.Comment: This paper has been accepted for publication in Information Science Journal 201

Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference

Assisting humans in collaborative tasks is a promising application for robots, however effective assistance remains challenging. In this paper, we propose a method for providing intuitive robotic assistance based on learning from human natural limb coordination. To encode coupling between multiple-limb motions, we use a novel interval type-2 (IT2) polynomial fuzzy inference for modeling trajectory adaptation. The associated polynomial coefficients are estimated using a modified recursive least-square with a dynamic forgetting factor. We propose to employ a Gaussian process to produce robust human motion predictions, and thus address the uncertainty and measurement noise of the system caused by interactive environments. Experimental results on two types of interaction tasks demonstrate the effectiveness of this approach, which achieves high accuracy in predicting assistive limb motion and enables humans to perform bimanual tasks using only one limb

Speaker independent isolated word recognition

The work presented in this thesis concerns the recognition of isolated words using a pattern matching approach. In such a system, an unknown speech utterance, which is to be identified, is transformed into a pattern of characteristic features. These features are then compared with a set of pre-stored reference patterns that were generated from the vocabulary words. The unknown word is identified as that vocabulary word for which the reference pattern gives the best match. One of the major difficul ties in the pattern comparison process is that speech patterns, obtained from the same word, exhibit non-linear temporal fluctuations and thus a high degree of redundancy. The initial part of this thesis considers various dynamic time warping techniques used for normalizing the temporal differences between speech patterns. Redundancy removal methods are also considered, and their effect on the recognition accuracy is assessed. Although the use of dynamic time warping algorithms provide considerable improvement in the accuracy of isolated word recognition schemes, the performance is ultimately limited by their poor ability to discriminate between acoustically similar words. Methods for enhancing the identification rate among acoustically similar words, by using common pattern features for similar sounding regions, are investigated. Pattern matching based, speaker independent systems, can only operate with a high recognition rate, by using multiple reference patterns for each of the words included in the vocabulary. These patterns are obtained from the utterances of a group of speakers. The use of multiple reference patterns, not only leads to a large increase in the memory requirements of the recognizer, but also an increase in the computational load. A recognition system is proposed in this thesis, which overcomes these difficulties by (i) employing vector quantization techniques to reduce the storage of reference patterns, and (ii) eliminating the need for dynamic time warping which reduces the computational complexity of the system. Finally, a method of identifying the acoustic structure of an utterance in terms of voiced, unvoiced, and silence segments by using fuzzy set theory is proposed. The acoustic structure is then employed to enhance the recognition accuracy of a conventional isolated word recognizer

Traditional and Innovative Approaches in Seismic Design

This special issue collects selected papers about a wide range of innovative applications in earthquake engineering. These studies were presented during the 2nd Edition of the International Workshop “Traditional and Innovative Approaches in Seismic Engineering”, held in Pisa in March 2017. The topics refer to the investigation of traditional and innovative materials for earthquake engineering applications: masonry, reinforced concrete, steel, structural glass and timber. In particular, advanced analytical and numerical analyses are described for considering effects of strength and material irregularities and rocking behavior under seismic excitations on historic buildings and industrial facilities. Experimental tests are also illustrated with the purpose of investigating the strengthening on masonry arches due to lime-based mortar composites and of obtaining reliable values of stiffness for moment resisting steel-timber connections. Among the innovative approaches, studies on original pavilions made of long-spanned TVT-portals braced with hybrid glass-steel panels are illustrate