Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks

In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory traces. These deviations in sensory traces can be used to drive the motion adaptation, and for this purpose, a feedback model is required. The feedback model maps the deviations in sensory traces to the motion plan adaptation. In this paper, we develop a general data-driven framework for learning a feedback model from demonstrations. We utilize a variant of a radial basis function network structure --with movement phases as kernel centers-- which can generally be applied to represent any feedback models for movement primitives. To demonstrate the effectiveness of our framework, we test it on the task of scraping on a tilt board. In this task, we are learning a reactive policy in the form of orientation adaptation, based on deviations of tactile sensor traces. As a proof of concept of our method, we provide evaluations on an anthropomorphic robot. A video demonstrating our approach and its results can be seen in https://youtu.be/7Dx5imy1KcwComment: 8 pages, accepted to be published at the International Conference on Robotics and Automation (ICRA) 201

Methodology for integration of wind resource forecasts based on artificial neural networks

An adaptation of the portfolio theory (PT) is proposed in this article, denoted as PrevPT, "Previsao" (in Portuguese) by PT, to integrate the three artificial neural networks, namely multilayer perceptron (MLP) backpropagation, radial basis function (RBF), and self-organizing map (SOM), based forecasting techniques, aiming to analyze the impact of wind speed forecasting errors and achieve more accurate results. In its first use, the PT goal was to maximize a financial return, at any risk, through the diversification of securities or investments that are not positively correlated. Based on the development of PrevPT, which was used until this work only for solar forecasting, the proposed technique is applied in this paper to integrate and improve the results of individual wind forecasts. Four-year wind speed data (January 2007 to December 2010) from two different locations (Algeciras, Spain and Petrolina, Brazil) were used. Our methodology develops a topology that integrates the forecasts obtained by MLP, RBF, and SOM aiming to obtain smaller forecast errors. By diversifying the forecasted asset, when one of the assets has negative prediction errors, another compensates for them and, thus, the total or partial cancellation of the errors occurs. PrevPT obtains a mean absolute percentage error of 1.13% for Spain and 2.35% for Brazil. PrevPT surpassed the results obtained by the three techniques applied individually in the two locations. The main innovations of the methodology are the significant reduction of errors and optimization of resource planning, and the beneficial features compared to other predictor integration techniques

The Impact of Transmission Protection System Reliability on Power System Resilience

Power transmission operation regimes are being changed for various technical and economic reasons seeking an improved power system resilience as a goal. However, some of these changes introduce new challenges in maintaining conventional transmission protection system dependability and security when meeting the operating complexities affecting power system resilience. Frequently evolving network topology, as a result of multiple switching actions for corrective, predictive and post event purposes, as well as high penetration of distributed generation into the system are considered as major contradictory changes from the legacy transmission protection standpoint. This research investigates the above-mentioned challenges and proposes effective solutions to improve the transmission protection reliability facing the above-mentioned risks and power system resilience consequently. A fundamental protection scheme based on the Hierarchically Coordinated Protection (HCP) concept is proposed to illustrate various approaches to predictive, adaptive and corrective protection actions aimed at improving power system resilience. Novel computation techniques as well as intelligent machine-learning algorithms are employed in proposing predictive, adaptive, and corrective solutions which fit various layers of the HCP concept and incorporate a fundamental HCP-based approach to supervise the legacy transmission protection function for a dynamic balance between dependability and security. The proposed predictive, adaptive, and corrective protection approaches are tested and verified on various systems, including real-life and IEEE test systems, and their performance effectiveness is compared with the state of the art

Research on an online self-organizing radial basis function neural network

A new growing and pruning algorithm is proposed for radial basis function (RBF) neural network structure design in this paper, which is named as self-organizing RBF (SORBF). The structure of the RBF neural network is introduced in this paper first, and then the growing and pruning algorithm is used to design the structure of the RBF neural network automatically. The growing and pruning approach is based on the radius of the receptive field of the RBF nodes. Meanwhile, the parameters adjusting algorithms are proposed for the whole RBF neural network. The performance of the proposed method is evaluated through functions approximation and dynamic system identification. Then, the method is used to capture the biochemical oxygen demand (BOD) concentration in a wastewater treatment system. Experimental results show that the proposed method is efficient for network structure optimization, and it achieves better performance than some of the existing algorithms

Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed

Robots need to be able to adapt to unexpected changes in the environment such that they can autonomously succeed in their tasks. However, hand-designing feedback models for adaptation is tedious, if at all possible, making data-driven methods a promising alternative. In this paper we introduce a full framework for learning feedback models for reactive motion planning. Our pipeline starts by segmenting demonstrations of a complete task into motion primitives via a semi-automated segmentation algorithm. Then, given additional demonstrations of successful adaptation behaviors, we learn initial feedback models through learning from demonstrations. In the final phase, a sample-efficient reinforcement learning algorithm fine-tunes these feedback models for novel task settings through few real system interactions. We evaluate our approach on a real anthropomorphic robot in learning a tactile feedback task.Comment: Submitted to the International Journal of Robotics Research. Paper length is 21 pages (including references) with 12 figures. A video overview of the reinforcement learning experiment on the real robot can be seen at https://www.youtube.com/watch?v=WDq1rcupVM0. arXiv admin note: text overlap with arXiv:1710.0855

Dynamics Model Abstraction Scheme Using Radial Basis Functions

This paper presents a control model for object manipulation. Properties of objects and environmental conditions influence the motor control and learning. System dynamics depend on an unobserved external context, for example, work load of a robot manipulator. The dynamics of a robot arm change as it manipulates objects with different physical properties, for example, the mass, shape, or mass distribution. We address active sensing strategies to acquire object dynamical models with a radial basis function neural network (RBF). Experiments are done using a real robot's arm, and trajectory data are gathered during various trials manipulating different objects. Biped robots do not have high force joint servos and the control system hardly compensates all the inertia variation of the adjacent joints and disturbance torque on dynamic gait control. In order to achieve smoother control and lead to more reliable sensorimotor complexes, we evaluate and compare a sparse velocity-driven versus a dense position-driven control scheme