97,562 research outputs found
Design and Development of an Affordable Haptic Robot with Force-Feedback and Compliant Actuation to Improve Therapy for Patients with Severe Hemiparesis
The study describes the design and development of a single degree-of-freedom haptic robot, Haptic Theradrive, for post-stroke arm rehabilitation for in-home and clinical use. The robot overcomes many of the weaknesses of its predecessor, the TheraDrive system, that used a Logitech steering wheel as the haptic interface for rehabilitation. Although the original TheraDrive system showed success in a pilot study, its wheel was not able to withstand the rigors of use. A new haptic robot was developed that functions as a drop-in replacement for the Logitech wheel. The new robot can apply larger forces in interacting with the patient, thereby extending the functionality of the system to accommodate low-functioning patients. A new software suite offers appreciably more options for tailored and tuned rehabilitation therapies. In addition to describing the design of the hardware and software, the paper presents the results of simulation and experimental case studies examining the system\u27s performance and usability
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Learning about a Moving Target in Resource Management: Optimal Bayesian Disease Control
Resource managers must often make difficult choices in the face of imperfectly observed and dynamically changing systems (e.g., livestock, fisheries, water, and invasive species). A rich set of techniques exists for identifying optimal choices when that uncertainty is assumed to be understood and irreducible. Standard optimization approaches, however, cannot address situations in which reducible uncertainty applies to either system behavior or environmental states. The adaptive management literature overcomes this limitation with tools for optimal learning, but has been limited to highly simplified models with state and action spaces that are discrete and small. We overcome this problem by using a recently developed extension of the Partially Observable Markov Decision Process (POMDP) framework to allow for learning about a continuous state. We illustrate this methodology by exploring optimal control of bovine tuberculosis in New Zealand cattle. Disease testing—the control variable—serves to identify herds for treatment and provides information on prevalence, which is both imperfectly observed and subject to change due to controllable and uncontrollable factors. We find substantial efficiency losses from both ignoring learning (standard stochastic optimization) and from simplifying system dynamics (to facilitate a typical, simple learning model), though the latter effect dominates in our setting. We also find that under an adaptive management approach, simplifying dynamics can lead to a belief trap in which information gathering ceases, beliefs become increasingly inaccurate, and losses abound
Longitudinal Dynamic versus Kinematic Models for Car-Following Control Using Deep Reinforcement Learning
The majority of current studies on autonomous vehicle control via deep
reinforcement learning (DRL) utilize point-mass kinematic models, neglecting
vehicle dynamics which includes acceleration delay and acceleration command
dynamics. The acceleration delay, which results from sensing and actuation
delays, results in delayed execution of the control inputs. The acceleration
command dynamics dictates that the actual vehicle acceleration does not rise up
to the desired command acceleration instantaneously due to dynamics. In this
work, we investigate the feasibility of applying DRL controllers trained using
vehicle kinematic models to more realistic driving control with vehicle
dynamics. We consider a particular longitudinal car-following control, i.e.,
Adaptive Cruise Control (ACC), problem solved via DRL using a point-mass
kinematic model. When such a controller is applied to car following with
vehicle dynamics, we observe significantly degraded car-following performance.
Therefore, we redesign the DRL framework to accommodate the acceleration delay
and acceleration command dynamics by adding the delayed control inputs and the
actual vehicle acceleration to the reinforcement learning environment state,
respectively. The training results show that the redesigned DRL controller
results in near-optimal control performance of car following with vehicle
dynamics considered when compared with dynamic programming solutions.Comment: Accepted to 2019 IEEE Intelligent Transportation Systems Conferenc
Online learning and detection of faces with low human supervision
The final publication is available at link.springer.comWe present an efficient,online,and interactive approach for computing a classifier, called Wild Lady Ferns (WiLFs), for face learning and detection using small human supervision. More precisely, on the one hand, WiLFs combine online boosting and extremely randomized trees (Random Ferns) to compute progressively an efficient and discriminative classifier. On the other hand, WiLFs use an interactive human-machine approach that combines two complementary learning strategies to reduce considerably the degree of human supervision during learning. While the first strategy corresponds to query-by-boosting active learning, that requests human assistance over difficult samples in function of the classifier confidence, the second strategy refers to a memory-based learning which uses ¿ Exemplar-based Nearest Neighbors (¿ENN) to assist automatically the classifier. A pre-trained Convolutional Neural Network (CNN) is used to perform ¿ENN with high-level feature descriptors. The proposed approach is therefore fast (WilFs run in 1 FPS using a code not fully optimized), accurate (we obtain detection rates over 82% in complex datasets), and labor-saving (human assistance percentages of less than 20%).
As a byproduct, we demonstrate that WiLFs also perform semi-automatic annotation during learning, as while the classifier is being computed, WiLFs are discovering faces instances in input images which are used subsequently for training online the classifier. The advantages of our approach are demonstrated in synthetic and publicly available databases, showing comparable detection rates as offline approaches that require larger amounts of handmade training data.Peer ReviewedPostprint (author's final draft
Implementing a Neurodiversity Program
This is a pdf version of a PowerPoint presentation regarding the Dandelion Program creating employment opportunities for people with autism
Distributed Hypothesis Testing, Attention Shifts and Transmitter Dynatmics During the Self-Organization of Brain Recognition Codes
BP (89-A-1204); Defense Advanced Research Projects Agency (90-0083); National Science Foundation (IRI-90-00530); Air Force Office of Scientific Research (90-0175, 90-0128); Army Research Office (DAAL-03-88-K0088
Perceptually-Driven Video Coding with the Daala Video Codec
The Daala project is a royalty-free video codec that attempts to compete with
the best patent-encumbered codecs. Part of our strategy is to replace core
tools of traditional video codecs with alternative approaches, many of them
designed to take perceptual aspects into account, rather than optimizing for
simple metrics like PSNR. This paper documents some of our experiences with
these tools, which ones worked and which did not. We evaluate which tools are
easy to integrate into a more traditional codec design, and show results in the
context of the codec being developed by the Alliance for Open Media.Comment: 19 pages, Proceedings of SPIE Workshop on Applications of Digital
Image Processing (ADIP), 201
RANS Turbulence Model Development using CFD-Driven Machine Learning
This paper presents a novel CFD-driven machine learning framework to develop
Reynolds-averaged Navier-Stokes (RANS) models. The CFD-driven training is an
extension of the gene expression programming method (Weatheritt and Sandberg,
2016), but crucially the fitness of candidate models is now evaluated by
running RANS calculations in an integrated way, rather than using an algebraic
function. Unlike other data-driven methods that fit the Reynolds stresses of
trained models to high-fidelity data, the cost function for the CFD-driven
training can be defined based on any flow feature from the CFD results. This
extends the applicability of the method especially when the training data is
limited. Furthermore, the resulting model, which is the one providing the most
accurate CFD results at the end of the training, inherently shows good
performance in RANS calculations. To demonstrate the potential of this new
method, the CFD-driven machine learning approach is applied to model
development for wake mixing in turbomachines. A new model is trained based on a
high-pressure turbine case and then tested for three additional cases, all
representative of modern turbine nozzles. Despite the geometric configurations
and operating conditions being different among the cases, the predicted wake
mixing profiles are significantly improved in all of these a posteriori tests.
Moreover, the model equation is explicitly given and available for analysis,
thus it could be deduced that the enhanced wake prediction is predominantly due
to the extra diffusion introduced by the CFD-driven model.Comment: Accepted by Journal of Computational Physic
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