3,329 research outputs found
An empirical learning-based validation procedure for simulation workflow
Simulation workflow is a top-level model for the design and control of
simulation process. It connects multiple simulation components with time and
interaction restrictions to form a complete simulation system. Before the
construction and evaluation of the component models, the validation of
upper-layer simulation workflow is of the most importance in a simulation
system. However, the methods especially for validating simulation workflow is
very limit. Many of the existing validation techniques are domain-dependent
with cumbersome questionnaire design and expert scoring. Therefore, this paper
present an empirical learning-based validation procedure to implement a
semi-automated evaluation for simulation workflow. First, representative
features of general simulation workflow and their relations with validation
indices are proposed. The calculation process of workflow credibility based on
Analytic Hierarchy Process (AHP) is then introduced. In order to make full use
of the historical data and implement more efficient validation, four learning
algorithms, including back propagation neural network (BPNN), extreme learning
machine (ELM), evolving new-neuron (eNFN) and fast incremental gaussian mixture
model (FIGMN), are introduced for constructing the empirical relation between
the workflow credibility and its features. A case study on a landing-process
simulation workflow is established to test the feasibility of the proposed
procedure. The experimental results also provide some useful overview of the
state-of-the-art learning algorithms on the credibility evaluation of
simulation models
Learning the dynamics of articulated tracked vehicles
In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV
Bayesian robot Programming
We propose a new method to program robots based on Bayesian inference and learning. The capacities of this programming method are demonstrated through a succession of increasingly complex experiments. Starting from the learning of simple reactive behaviors, we present instances of behavior combinations, sensor fusion, hierarchical behavior composition, situation recognition and temporal sequencing. This series of experiments comprises the steps in the incremental development of a complex robot program. The advantages and drawbacks of this approach are discussed along with these different experiments and summed up as a conclusion. These different robotics programs may be seen as an illustration of probabilistic programming applicable whenever one must deal with problems based on uncertain or incomplete knowledge. The scope of possible applications is obviously much broader than robotics
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