The Importance of Clipping in Neurocontrol by Direct Gradient Descent on the Cost-to-Go Function and in Adaptive Dynamic Programming

In adaptive dynamic programming, neurocontrol and reinforcement learning, the objective is for an agent to learn to choose actions so as to minimise a total cost function. In this paper we show that when discretized time is used to model the motion of the agent, it can be very important to do "clipping" on the motion of the agent in the final time step of the trajectory. By clipping we mean that the final time step of the trajectory is to be truncated such that the agent stops exactly at the first terminal state reached, and no distance further. We demonstrate that when clipping is omitted, learning performance can fail to reach the optimum; and when clipping is done properly, learning performance can improve significantly. The clipping problem we describe affects algorithms which use explicit derivatives of the model functions of the environment to calculate a learning gradient. These include Backpropagation Through Time for Control, and methods based on Dual Heuristic Dynamic Programming. However the clipping problem does not significantly affect methods based on Heuristic Dynamic Programming, Temporal Differences or Policy Gradient Learning algorithms. Similarly, the clipping problem does not affect fixed-length finite-horizon problems

Effect of Planting Date, Clipping Height, and Cultivar on Forage and Grain Yield of Winter Wheat in Argentinean Pampas

In Argentinean Pampas, new wheat (Triticum aestivum L.) cultivars are routinely introduced to farmers for dual-purpose production. The objective of this study was to evaluate the effect of planting date, clipping height on forage, and grain yield for wheat cultivars. Treatments were arranged as a 3 × 3 × 3 factorial distributed in a split-split plot within a randomized complete block design. Main plots were planting date (March, April, and May); split-plots were clipping height (3 cm, 7 cm, and no clipping); and split-split plots were a facultative cultivar Pincen, and two nonfacultative cultivars Charrua and Bordenave 223 (Bve223). In 1995 and 1996 forage yield decreased in response to a delayed planting date from March to May, whereas in 1997 it was not affected by planting date. The 3-cm clipping height yielded 21% more forage than plots clipped at 7 cm. Bve223 and Charrua produced significantly more forage than Pincen each year. Grain yield increased as planting date progressed from March to May. Clipping at 3 cm reduced grain yield compared with no clipping, while during 2 to 3 yr, 7 cm produced no significant change in grain yield compared with no clipping. In all years Bve223 produced more grain than Charrua or Pincen. Forage yield lost in response to later planting date ranged between 0 and 81% during the 3 yr; whereas grain yield increased from 40 to 190% for wheat planted in May compared with March. In conclusion, dual-purpose wheat planted during April had both good forage and grain production, and its success was influenced by cultivars.Fil: Arzadún, M. J.. Provincia de Buenos Aires. Ministerio de Asuntos Agrarios; ArgentinaFil: Arroquy, Jose Ignacio. Instituto Nacional de Tecnología Agropecuaria; ArgentinaFil: Laborde, Hugo Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Centro de Recursos Naturales Renovables de la Zona Semiárida. Universidad Nacional del Sur. Centro de Recursos Naturales Renovables de la Zona Semiárida; ArgentinaFil: Brevedan, Roberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Centro de Recursos Naturales Renovables de la Zona Semiárida. Universidad Nacional del Sur. Centro de Recursos Naturales Renovables de la Zona Semiárida; Argentin

Computational algorithms for increased control of depth-viewing volume for stereo three-dimensional graphic displays

Three-dimensional pictorial displays incorporating depth cues by means of stereopsis offer a potential means of presenting information in a natural way to enhance situational awareness and improve operator performance. Conventional computational techniques rely on asymptotic projection transformations and symmetric clipping to produce the stereo display. Implementation of two new computational techniques, as asymmetric clipping algorithm and piecewise linear projection transformation, provides the display designer with more control and better utilization of the effective depth-viewing volume to allow full exploitation of stereopsis cuing. Asymmetric clipping increases the perceived field of view (FOV) for the stereopsis region. The total horizontal FOV provided by the asymmetric clipping algorithm is greater throughout the scene viewing envelope than that of the symmetric algorithm. The new piecewise linear projection transformation allows the designer to creatively partition the depth-viewing volume, with freedom to place depth cuing at the various scene distances at which emphasis is desired

Tunnel-diode circuit features zero-level clipping

Tunnel-diode circuit starts clipping action as input voltage crosses zero axis. This clipper circuit is effective as limiter in FM receiver