Learning-Based Adaptation for Personalized Mobility Assistance

Mobility assistance is of key importance for people with disabilities to remain autonomous in their preferred environments. In severe cases, assistance can be provided by robotized wheelchairs that can perform complex maneuvers and/or correct the user’s commands. User’s acceptance is of key importance, as some users do not like their commands to be modified. This work presents a solution to improve acceptance. It consists of making the robot learn how the user drives so corrections will not be so noticeable to the user. Case Based Reasoning (CBR) is used to acquire a user’s driving model reactive level. Experiments with volunteers at Fondazione Santa Lucia (FSL) have proven that, indeed, this customized approach at assistance increases acceptance by the user.This work has been partially supported by the Spanish Ministerio de Educacion y Ciencia (MEC), Project TEC2011-29106-C02-01. The authors would like to thank Santa Lucia Hospedale and all volunteers for their kind cooperation and Sauer Medica for providing the power wheelchair

An adaptive scheme for wheelchair navigation collaborative control

In this paper we propose a system where machine and human cooperate at every situation via a reactive emergent behavior, so that the person is always in charge of his/her own motion. Our approach relies on locally evaluating the performance of the human and the wheelchair for each given situation. Then, both their motion commands are weighted according to those efficiencies and combined in a reactive way. This approach benefits from the advantages of typical reactive behaviors to combine different sources of information in a simple, seamless way into an emergent trajectory.Peer ReviewedPostprint (author’s final draft

Context guided retrieval

This paper presents a hierarchical case representation that uses a context guided retrieval method The performance of this method is compared to that of a simple flat file representation using standard nearest neighbour retrieval. The data presented in this paper is more extensive than that presented in an earlier paper by the same authors. The estimation of the construction costs of light industrial warehouse buildings is used as the test domain. Each case in the system comprises approximately 400 features. These are structured into a hierarchical case representation that holds more general contextual features at its top and specific building elements at its leaves. A modified nearest neighbour retrieval algorithm is used that is guided by contextual similarity. Problems are decomposed into sub-problems and solutions recomposed into a final solution. The comparative results show that the context guided retrieval method using the hierarchical case representation is significantly more accurate than the simpler flat file representation and standard nearest neighbour retrieval

Paying attention to what's important : using focus of attention to improve unsupervised learning

Thesis (M.S.)--Massachusetts Institute of Technology, Program in Media Arts & Sciences, 1994.Includes bibliographical references (leaves 145-150).by Leonard Newton Foner.M.S

There is No Free Lunch: Tradeoffs in the Utility of Learned Knowledge

With the recent introduction of learning in integrated systems, there is a need to measure the utility of learned knowledge for these more complex systems. A difficulty arrises when there are multiple, possibly conflicting, utility metrics to be measured. In this paper, we present schemes which trade off conflicting utility metrics in order to achieve some global performance objectives. In particular, we present a case study of a multi-strategy machine learning system, mutual theory refinement, which refines world models for an integrated reactive system, the Entropy Reduction Engine. We provide experimental results on the utility of learned knowledge in two conflicting metrics - improved accuracy and degraded efficiency. We then demonstrate two ways to trade off these metrics. In each, some learned knowledge is either approximated or dynamically 'forgotten' so as to improve efficiency while degrading accuracy only slightly

Conception of an E-learning scheme at the University of Algarve

With the proliferation of the Internet use, a growth of e-learning courses has been verified. We arrived to the moment where it is not enough for Universities to have standard courses to offer to the students, because there is an increasing population which tends to choose his formation according to their objectives, styles, needs and learning preferences (the student profile). This way, the universities are faced with a new challenge, which is to offer, together with the standard courses, modules specially tailored to the user desires, based on the identification of the customers needs. In this paper, a model for the distance formation through Internet is discussed, that is being developed in the University of Algarve, which makes possible each individual to learn in agreement with his/her profile

A hybrid, auto-adaptive, and rule-based multi-agent approach using evolutionary algorithms for improved searching

Selecting the most appropriate heuristic for solving a specific problem is not easy, for many reasons. This article focuses on one of these reasons: traditionally, the solution search process has operated in a given manner regardless of the specific problem being solved, and the process has been the same regardless of the size, complexity and domain of the problem. To cope with this situation, search processes should mould the search into areas of the search space that are meaningful for the problem. This article builds on previous work in the development of a multi-agent paradigm using techniques derived from knowledge discovery (data-mining techniques) on databases of so-far visited solutions. The aim is to improve the search mechanisms, increase computational efficiency and use rules to enrich the formulation of optimization problems, while reducing the search space and catering to realistic problems.Izquierdo Sebastián, J.; Montalvo Arango, I.; Campbell, E.; Pérez García, R. 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Multi-objective optimization of water supply network rehabilitation with non-dominated sorting Genetic Algorithm-II. Journal of Zhejiang University-SCIENCE A, 9(3), 391-400. doi:10.1631/jzus.a071448Johns, M. B., Keedwell, E., & Savic, D. (2014). Adaptive locally constrained genetic algorithm for least-cost water distribution network design. Journal of Hydroinformatics, 16(2), 288-301. doi:10.2166/hydro.2013.218Jourdan, L., Corne, D., Savic, D., & Walters, G. (2005). Preliminary Investigation of the ‘Learnable Evolution Model’ for Faster/Better Multiobjective Water Systems Design. Evolutionary Multi-Criterion Optimization, 841-855. doi:10.1007/978-3-540-31880-4_58Kamwa, I., Samantaray, S. R., & Joos, G. (2009). Development of Rule-Based Classifiers for Rapid Stability Assessment of Wide-Area Post-Disturbance Records. IEEE Transactions on Power Systems, 24(1), 258-270. doi:10.1109/tpwrs.2008.2009430Kang, D., & Lansey, K. (2012). 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Connectionist Theory Refinement: Genetically Searching the Space of Network Topologies

An algorithm that learns from a set of examples should ideally be able to exploit the available resources of (a) abundant computing power and (b) domain-specific knowledge to improve its ability to generalize. Connectionist theory-refinement systems, which use background knowledge to select a neural network's topology and initial weights, have proven to be effective at exploiting domain-specific knowledge; however, most do not exploit available computing power. This weakness occurs because they lack the ability to refine the topology of the neural networks they produce, thereby limiting generalization, especially when given impoverished domain theories. We present the REGENT algorithm which uses (a) domain-specific knowledge to help create an initial population of knowledge-based neural networks and (b) genetic operators of crossover and mutation (specifically designed for knowledge-based networks) to continually search for better network topologies. Experiments on three real-world domains indicate that our new algorithm is able to significantly increase generalization compared to a standard connectionist theory-refinement system, as well as our previous algorithm for growing knowledge-based networks.Comment: See http://www.jair.org/ for any accompanying file

The 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies

This publication comprises the papers presented at the 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland, on May 9-11, 1995. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed