Gait learning for soft microrobots controlled by light fields

Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits. This inherent flexibility can be exploited to maximize their locomotion performance in a given environment and used to adapt them to changing conditions. Albeit, because of the lack of accurate locomotion models, and given the intrinsic variability among microrobots, analytical control design is not possible. Common data-driven approaches, on the other hand, require running prohibitive numbers of experiments and lead to very sample-specific results. Here we propose a probabilistic learning approach for light-controlled soft microrobots based on Bayesian Optimization (BO) and Gaussian Processes (GPs). The proposed approach results in a learning scheme that is data-efficient, enabling gait optimization with a limited experimental budget, and robust against differences among microrobot samples. These features are obtained by designing the learning scheme through the comparison of different GP priors and BO settings on a semi-synthetic data set. The developed learning scheme is validated in microrobot experiments, resulting in a 115% improvement in a microrobot's locomotion performance with an experimental budget of only 20 tests. These encouraging results lead the way toward self-adaptive microrobotic systems based on light-controlled soft microrobots and probabilistic learning control.Comment: 8 pages, 7 figures, to appear in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 201

Active Learning based on Data Uncertainty and Model Sensitivity

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task. Failing to detect missing information often leads to abrupt movements or to collisions with the environment. Active learning can quantify the uncertainty of performing the task and, in general, locate regions of missing information. We introduce a novel algorithm for active learning and demonstrate its utility for generating smooth trajectories. Our approach is based on deep generative models and metric learning in latent spaces. It relies on the Jacobian of the likelihood to detect non-smooth transitions in the latent space, i.e., transitions that lead to abrupt changes in the movement of the robot. When non-smooth transitions are detected, our algorithm asks for an additional demonstration from that specific region. The newly acquired knowledge modifies the data manifold and allows for learning a latent representation for generating smooth movements. We demonstrate the efficacy of our approach on generalising elementary skills, transitioning across different skills, and implicitly avoiding collisions with the environment. For our experiments, we use a simulated pendulum where we observe its motion from images and a 7-DoF anthropomorphic arm.Comment: Published on 2018 IEEE/RSJ International Conference on Intelligent Robots and Syste

A Fuzzy Association Rule Mining Expert-Driven (FARME-D) approach to Knowledge Acquisition

Fuzzy Association Rule Mining Expert-Driven (FARME-D) approach to knowledge acquisition is proposed in this paper as a viable solution to the challenges of rule-based unwieldiness and sharp boundary problem in building a fuzzy rule-based expert system. The fuzzy models were based on domain experts’ opinion about the data description. The proposed approach is committed to modelling of a compact Fuzzy Rule-Based Expert Systems. It is also aimed at providing a platform for instant update of the knowledge-base in case new knowledge is discovered. The insight to the new approach strategies and underlining assumptions, the structure of FARME-D and its practical application in medical domain was discussed. Also, the modalities for the validation of the FARME-D approach were discussed

Event tracking for real-time unaware sensitivity analysis (EventTracker)

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.This paper introduces a platform for online Sensitivity Analysis (SA) that is applicable in large scale real-time data acquisition (DAQ) systems. Here we use the term real-time in the context of a system that has to respond to externally generated input stimuli within a finite and specified period. Complex industrial systems such as manufacturing, healthcare, transport, and finance require high quality information on which to base timely responses to events occurring in their volatile environments. The motivation for the proposed EventTracker platform is the assumption that modern industrial systems are able to capture data in real-time and have the necessary technological flexibility to adjust to changing system requirements. The flexibility to adapt can only be assured if data is succinctly interpreted and translated into corrective actions in a timely manner. An important factor that facilitates data interpretation and information modelling is an appreciation of the affect system inputs have on each output at the time of occurrence. Many existing sensitivity analysis methods appear to hamper efficient and timely analysis due to a reliance on historical data, or sluggishness in providing a timely solution that would be of use in real-time applications. This inefficiency is further compounded by computational limitations and the complexity of some existing models. In dealing with real-time event driven systems, the underpinning logic of the proposed method is based on the assumption that in the vast majority of cases changes in input variables will trigger events. Every single or combination of events could subsequently result in a change to the system state. The proposed event tracking sensitivity analysis method describes variables and the system state as a collection of events. The higher the numeric occurrence of an input variable at the trigger level during an event monitoring interval, the greater is its impact on the final analysis of the system state. Experiments were designed to compare the proposed event tracking sensitivity analysis method with a comparable method (that of Entropy). An improvement of 10% in computational efficiency without loss in accuracy was observed. The comparison also showed that the time taken to perform the sensitivity analysis was 0.5% of that required when using the comparable Entropy based method.EPSR

An Adaptive Design Methodology for Reduction of Product Development Risk

Embedded systems interaction with environment inherently complicates understanding of requirements and their correct implementation. However, product uncertainty is highest during early stages of development. Design verification is an essential step in the development of any system, especially for Embedded System. This paper introduces a novel adaptive design methodology, which incorporates step-wise prototyping and verification. With each adaptive step product-realization level is enhanced while decreasing the level of product uncertainty, thereby reducing the overall costs. The back-bone of this frame-work is the development of Domain Specific Operational (DOP) Model and the associated Verification Instrumentation for Test and Evaluation, developed based on the DOP model. Together they generate functionally valid test-sequence for carrying out prototype evaluation. With the help of a case study 'Multimode Detection Subsystem' the application of this method is sketched. The design methodologies can be compared by defining and computing a generic performance criterion like Average design-cycle Risk. For the case study, by computing Average design-cycle Risk, it is shown that the adaptive method reduces the product development risk for a small increase in the total design cycle time.Comment: 21 pages, 9 figure

On the role of pre and post-processing in environmental data mining

The quality of discovered knowledge is highly depending on data quality. Unfortunately real data use to contain noise, uncertainty, errors, redundancies or even irrelevant information. The more complex is the reality to be analyzed, the higher the risk of getting low quality data. Knowledge Discovery from Databases (KDD) offers a global framework to prepare data in the right form to perform correct analyses. On the other hand, the quality of decisions taken upon KDD results, depend not only on the quality of the results themselves, but on the capacity of the system to communicate those results in an understandable form. Environmental systems are particularly complex and environmental users particularly require clarity in their results. In this paper some details about how this can be achieved are provided. The role of the pre and post processing in the whole process of Knowledge Discovery in environmental systems is discussed

Solving multiple-criteria R&D project selection problems with a data-driven evidential reasoning rule

In this paper, a likelihood based evidence acquisition approach is proposed to acquire evidence from experts'assessments as recorded in historical datasets. Then a data-driven evidential reasoning rule based model is introduced to R&D project selection process by combining multiple pieces of evidence with different weights and reliabilities. As a result, the total belief degrees and the overall performance can be generated for ranking and selecting projects. Finally, a case study on the R&D project selection for the National Science Foundation of China is conducted to show the effectiveness of the proposed model. The data-driven evidential reasoning rule based model for project evaluation and selection (1) utilizes experimental data to represent experts' assessments by using belief distributions over the set of final funding outcomes, and through this historic statistics it helps experts and applicants to understand the funding probability to a given assessment grade, (2) implies the mapping relationships between the evaluation grades and the final funding outcomes by using historical data, and (3) provides a way to make fair decisions by taking experts' reliabilities into account. In the data-driven evidential reasoning rule based model, experts play different roles in accordance with their reliabilities which are determined by their previous review track records, and the selection process is made interpretable and fairer. The newly proposed model reduces the time-consuming panel review work for both managers and experts, and significantly improves the efficiency and quality of project selection process. Although the model is demonstrated for project selection in the NSFC, it can be generalized to other funding agencies or industries.Comment: 20 pages, forthcoming in International Journal of Project Management (2019