Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to unexpected events. That is not only identifying the sudden anomaly, but also deciding how to handle it. In this work, we contribute a recovery policy that allows a robot to recovery from various anomalous scenarios across different tasks and conditions in a consistent and robust fashion. The system organizes tasks as a sequence of nodes composed of internal modules such as motion generation and introspection. When an introspection module flags an anomaly, the recovery strategy is triggered and reverts the task execution by selecting a target node as a function of a state dependency chart. The new skill allows the robot to overcome the effects of the external disturbance and conclude the task. Our system recovers from accidental human and tool collisions in a number of tasks. Of particular importance is the fact that we test the robustness of the recovery system by triggering anomalies at each node in the task graph showing robust recovery everywhere in the task. We also trigger multiple and repeated anomalies at each of the nodes of the task showing that the recovery system can consistently recover anywhere in the presence of strong and pervasive anomalous conditions. Robust recovery systems will be key enablers for long-term autonomy in robot systems. Supplemental info including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl

Skill set profile clustering: the empty K-means algorithm with automatic specification of starting cluster centers

While students’ skill set profiles can be estimated with formal cognitive diagnosis models [8], their computational complexity makes simpler proxy skill estimates attractive [1, 4, 6]. These estimates can be clustered to generate groups of similar students. Often hierarchical agglomerative clustering or k-means clustering is utilized, requiring, for K skills, the specification of 2^K clusters. The number of skill set profiles/clusters can quickly become computationally intractable. Moreover, not all profiles may be present in the population. We present a flexible version of k-means that allows for empty clusters. We also specify a method to determine efficient starting centers based on the Q-matrix. Combining the two substantially improves the clustering results and allows for analysis of data sets previously thought impossible

An Overview of Models for Response Times and Processes in Cognitive Tests.

Response times (RTs) are a natural kind of data to investigate cognitive processes underlying cognitive test performance. We give an overview of modeling approaches and of findings obtained with these approaches. Four types of models are discussed: response time models (RT as the sole dependent variable), joint models (RT together with other variables as dependent variable), local dependency models (with remaining dependencies between RT and accuracy), and response time as covariate models (RT as independent variable). The evidence from these approaches is often not very informative about the specific kind of processes (other than problem solving, information accumulation, and rapid guessing), but the findings do suggest dual processing: automated processing (e.g., knowledge retrieval) vs. controlled processing (e.g., sequential reasoning steps), and alternative explanations for the same results exist. While it seems well-possible to differentiate rapid guessing from normal problem solving (which can be based on automated or controlled processing), further decompositions of response times are rarely made, although possible based on some of model approaches

Architecture-based Qualitative Risk Analysis for Availability of IT Infrastructures

An IT risk assessment must deliver the best possible quality of results in a time-effective way. Organisations are used to customise the general-purpose standard risk assessment methods in a way that can satisfy their requirements. In this paper we present the QualTD Model and method, which is meant to be employed together with standard risk assessment methods for the qualitative assessment of availability risks of IT architectures, or parts of them. The QualTD Model is based on our previous quantitative model, but geared to industrial practice since it does not require quantitative data which is often too costly to acquire. We validate the model and method in a real-world case by performing a risk assessment on the authentication and authorisation system of a large multinational company and by evaluating the results w.r.t. the goals of the stakeholders of the system. We also perform a review of the most popular standard risk assessment methods and an analysis of which one can be actually integrated with our QualTD Model