Grounded Concept Development Using Introspective Atoms

In this paper we present a system that uses its underlying physiology, a hierarchical memory and a collection of memory management algorithms to learn concepts as cases and to build higher level concepts from experiences represented as sequences of atoms. Using a memory structure that requires all base memories to be grounded in introspective atoms, the system builds a set of grounded concepts that must all be formed from and applied to this same set of atoms. All interaction the system has with its environment must be represented by the system itself and therefore, given a complete ability to perceive its own physiological and mental processes,can be modeled and recreated

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL

Ageing memory and glassiness of a driven vortex system

Many systems in nature, glasses, interfaces and fractures being some examples, cannot equilibrate with their environment, which gives rise to novel and surprising behaviour such as memory effects, ageing and nonlinear dynamics. Unlike their equilibrated counterparts, the dynamics of out-of- equilibrium systems is generally too complex to be captured by simple macroscopic laws. Here we investigate a system that straddles the boundary between glass and crystal: a Bragg glass formed by vortices in a superconductor. We find that the response to an applied force evolves according to a stretched exponential, with the exponent reflecting the deviation from equilibrium. After the force is removed, the system ages with time and its subsequent response time scales linearly with its age (simple ageing), meaning that older systems are slower than younger ones. We show that simple ageing can occur naturally in the presence of sufficient quenched disorder. Moreover, the hierarchical distribution of timescales, arising when chunks of loose vortices cannot move before trapped ones become dislodged, leads to a stretched-exponential response.Comment: 16 pages, 5 figure

Fusion of gaze with hierarchical image segmentation for robust object detection

Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.Includes bibliographical references (p. 41).We present Flycatcher, a prototype system illustrating the idea of gaze- based image processing in the context of object segmentation for wearable photography. The prototype includes a wearable eye tracking device that captures real-time eyetraces of a user, and a wearable video camera that captures first-person perspective images of the user's visual environment. The system combines the deliberate eyetraces of the user with hierarchical image segmentation applied to scene images to achieve reliable object segmentation. In evaluations with certain classes of real-world images, fusion of gaze and image segmentation information led to higher object detection accuracy than either signal alone. Flycatcher may be integrated with assistive communication devices, enabling individuals with severe motor impairments to use eye control to communicate about objects in their environment. The system also represents a promising step toward an eye-driven interface for "copy and paste" visual memory augmentation in wearable computing applications.by Jeffrey M. Bartelma.M.Eng

A Hierarchical Framework of Cloud Resource Allocation and Power Management Using Deep Reinforcement Learning

Automatic decision-making approaches, such as reinforcement learning (RL), have been applied to (partially) solve the resource allocation problem adaptively in the cloud computing system. However, a complete cloud resource allocation framework exhibits high dimensions in state and action spaces, which prohibit the usefulness of traditional RL techniques. In addition, high power consumption has become one of the critical concerns in design and control of cloud computing systems, which degrades system reliability and increases cooling cost. An effective dynamic power management (DPM) policy should minimize power consumption while maintaining performance degradation within an acceptable level. Thus, a joint virtual machine (VM) resource allocation and power management framework is critical to the overall cloud computing system. Moreover, novel solution framework is necessary to address the even higher dimensions in state and action spaces. In this paper, we propose a novel hierarchical framework for solving the overall resource allocation and power management problem in cloud computing systems. The proposed hierarchical framework comprises a global tier for VM resource allocation to the servers and a local tier for distributed power management of local servers. The emerging deep reinforcement learning (DRL) technique, which can deal with complicated control problems with large state space, is adopted to solve the global tier problem. Furthermore, an autoencoder and a novel weight sharing structure are adopted to handle the high-dimensional state space and accelerate the convergence speed. On the other hand, the local tier of distributed server power managements comprises an LSTM based workload predictor and a model-free RL based power manager, operating in a distributed manner.Comment: accepted by 37th IEEE International Conference on Distributed Computing (ICDCS 2017