Robot skill learning system of multi-space fusion based on dynamic movement primitives and adaptive neural network control

This article develops a robot skill learning system with multi-space fusion, simultaneously considering motion/stiffness generation and trajectory tracking. To begin with, surface electromyography (sEMG) signals from the human arm is captured based on the MYO armband to estimate endpoint stiffness. Gaussian Process Regression (GPR) is combined with dynamic movement primitive (DMP) to extract more skills features from multi-demonstrations. Then, the traditional DMP formulation is improved based on the Riemannian metric to encode the robot's quaternions with non-Euclidean properties. Furthermore, an adaptive neural network (NN)-based finite-time admittance controller is designed to track the trajectory generated by the motion model and to reflect the learned stiffness characteristics. In this controller, a radial basis function neural network (RBFNN) is employed to compensate for the uncertainty of the robot dynamics. Finally, experimental validation is conducted using the ROKAE collaborative robot, confirming the effectiveness of the proposed approach. In summary, the presented framework is suitable for human-robot skill transfer method that require simultaneous consideration of position and stiffness in Euclidean space, as well as orientation on Riemannian manifolds

Critical (Re)approach to higher education admission policy: The impact of open enrollment policy implementation

Federal and state policies affecting higher education, like the Morrill Land Grant Act of 1832, Brown vs. Board of Education, and Higher Education Act of 1965 have posited change regarding the proliferation of diversity and expansion of access (Thelin, 2011). I analyzed BOT policies for enrollment and conducted a socio-diagnostic CDA on the implementation of admission policy to understand the impact of the policies’ implementation. I focused on 1) exploring how open enrollment (OE) policies were constructed, 2) how institutions adopt and interpret these policies, and 3) how individuals at the institution enact these policies, by conducting a discourse-historical analysis (DHA). Open enrollment has been extensively studied at junior colleges. However, the impact of open admissions (OA) at 4-year institutions has not been intensely engaged despite its use at these types of institutions. This has left professionals to draw implications for practice from universities and colleges that are different than the ones in which they work. There are conditions that could inhibit the effectiveness of education policy implementation to include: “a lack of focus on the implementation processes when defining policies at the system level; a lack of recognition that the core of change processes require engaging people; and the fact that implementation processes need to be revised to adapt to new complex governance systems” (Viennet & Pont, 2017, p. 6). I conducted a case study investigation of open enrollment policy at a 4-year public university to understand its implementation and impact on the student experience. I used discourse-historical analysis to guide my analysis of the data. Implications were creation of a student profile, resource support matrix, and rethink of policy implementation

Pattern and Mathematics: Math Enrichment Activities for Gifted Fourth, Fifth and Sixth Grade Children

The purpose of this project is to provide assistance to the elementary math teacher in meeting the needs of the student gifted in the area of math. A collection of activities is provided to use with gifted intermediate students and should serve as an example of the type of activities appropriate for the gifted student. These activities would be most appropriately used with gifted students in grades four through six. The activities would be of greatest benefit if students were grouped in a homogeneous manner with one teacher taking responsibility for their math needs, Homogeneous grouping would allow for faster-paced instruction and stimulating interaction among the students as well as relieving other teachers of this responsibility and providing continuity to the program. The activities encourage use of higher level thinking and exploration with a variety of materials. The student is encouraged to think and work as a mathematician does, dealing with both inductive and deductive reasoning

Learning manipulative skills using an artificial intelligence approach.

The aim of this research was to design a non-linear controller based on an Artificial Neural Network and Reinforcement Learning algorithms implementation, which is able to perform an intelligent robotic assembly of mechanical components. Different information was applied and combined to develop a fully unsupervised, intelligent controller. In the author's design no class labelling or geometry feature pretraining takes place. Only force and torque signals together with the direction of insertion were supplied to the controller. A unique sandwich structure of the intelligent controller was proposed. It featured two major layers, a State Recognition module where the detection and localisation of the contact points were performed, and the Decision Making subsystem where the decision about the next action took place.All the algorithms were implemented and tested on simulated data before being applied to the real-life peg-in-hole insertion. The results are presented in the form of graphs and tables.Evaluation of the environmental uncertainty was accomplished. The signal from the force and torque sensor was acquired under controlled conditions. All the data was collected to establish the area and level of uncertainty (e.g. signal errors) the artificial controller would need to learn to cope with and compensate for.The empirical part of the thesis includes the investigation into the effects of different learning methods applied on the same geometry. The influence of action-selection methods on AI agent performance was analysed. The proposed controller was applied to a set of real life peg-and-hole experiments. Both circular and square peg geometries were used, and insertions into chamfered and non-chamfered holes were performed. Materials with different friction factors were used for mating parts.Fast and stable knowledge acquisition was clearly present in all the cases investigated. A significant reduction in contact force value during the initial stage of the learning process was recorded. The force was usually reduced to one tenth of the initial value. Some fluctuations were recorded but when the cylindrical peg was considered the value of contact forces never exceeded 0.5 N during the steady state

Review of literature pertaining to the nature and nurture of the gifted child

The purpose of this investigation was to present the findings of recent research related to the nature and nurture of the gifted child. The writer\u27s major interest is in the intermediate grades, but literature of general importance, although not specified for the intermediate level, was also included