17,909 research outputs found
Robot eye-hand coordination learning by watching human demonstrations: a task function approximation approach
We present a robot eye-hand coordination learning method that can directly
learn visual task specification by watching human demonstrations. Task
specification is represented as a task function, which is learned using inverse
reinforcement learning(IRL) by inferring differential rewards between state
changes. The learned task function is then used as continuous feedbacks in an
uncalibrated visual servoing(UVS) controller designed for the execution phase.
Our proposed method can directly learn from raw videos, which removes the need
for hand-engineered task specification. It can also provide task
interpretability by directly approximating the task function. Besides,
benefiting from the use of a traditional UVS controller, our training process
is efficient and the learned policy is independent from a particular robot
platform. Various experiments were designed to show that, for a certain DOF
task, our method can adapt to task/environment variances in target positions,
backgrounds, illuminations, and occlusions without prior retraining.Comment: Accepted in ICRA 201
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Prototyping a process-centered environment
This paper describes an experimental system developed and used as a vehicle for prototyping the Arcadia-1 software development environment. Prototyping is viewed as a knowledge acquisition process and is used to reduce risks in software development by gaining rapid feedback about the suitability of a production system before the system is completed. Prototyping a software development environment is particularly important due to the lack of experience with them. There is an acute need to acquire knowledge about user interaction requirements for software environments. These needs are especially important for the Arcadia project, as it is one of the first attempts to construct a process-centered environment. Our prototyping effort addresses questions about effective interaction with a process-centered environment by simulating how Arcadia-1 would interact with users in a representative range of usage scenarios. We built a prototyping system, called PRODUCER, and used it to generate a variety of prototypes simulating user interactions with Arcadia-1 process programs.Experience with PRODUCER indicates that our approach is effective at risk reduction. The prototypes greatly improved communication with our customer. They confirmed some of our design decisions but also redirected our research efforts as a result of unexpected insight. We also found that prototyping usage scenarios provides conceptual guides and design information for process programmers. Most of the benefits of our prototyping effort derive from developing and interacting with usage scenarios, so our approach is generalizable to other prototyping systems. This paper reports on our prototyping approach and our experience in prototyping a process-centered environment
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Application of Advanced Early Warning Systems with Adaptive Protection
This project developed and field-tested two methods of Adaptive Protection systems utilizing synchrophasor data. One method detects conditions of system stress that can lead to unintended relay operation, and initiates a supervisory signal to modify relay response in real time to avoid false trips. The second method detects the possibility of false trips of impedance relays as stable system swings “encroach” on the relays’ impedance zones, and produces an early warning so that relay engineers can re-evaluate relay settings. In addition, real-time synchrophasor data produced by this project was used to develop advanced visualization techniques for display of synchrophasor data to utility operators and engineers
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