Framework of active robot learning

A thesis submitted to the University of Bedfordshire, in fulfilment of the requirements for the degree of Master of Science by researchIn recent years, cognitive robots have become an attractive research area of Artificial Intelligent (AI). High-order beliefs for cognitive robots regard the robots' thought about their users' intention and preference. The existing approaches to the development of such beliefs through machine learning rely on particular social cues or specifically defined award functions . Therefore, their applications can be limited. This study carried out primary research on active robot learning (ARL) which facilitates a robot to develop high-order beliefs by actively collecting/discovering evidence it needs. The emphasis is on active learning, but not teaching. Hence, social cues and award functions are not necessary. In this study, the framework of ARL was developed. Fuzzy logic was employed in the framework for controlling robot and for identifying high-order beliefs. A simulation environment was set up where a human and a cognitive robot were modelled using MATLAB, and ARL was implemented through simulation. Simulations were also performed in this study where the human and the robot tried to jointly lift a stick and keep the stick level. The simulation results show that under the framework a robot is able to discover the evidence it needs to confirm its user's intention

Intelligent Image Retrieval Techniques: A Survey

AbstractIn the current era of digital communication, the use of digital images has increased for expressing, sharing and interpreting information. While working with digital images, quite often it is necessary to search for a specific image for a particular situation based on the visual contents of the image. This task looks easy if you are dealing with tens of images but it gets more difficult when the number of images goes from tens to hundreds and thousands, and the same content-based searching task becomes extremely complex when the number of images is in the millions. To deal with the situation, some intelligent way of content-based searching is required to fulfill the searching request with right visual contents in a reasonable amount of time. There are some really smart techniques proposed by researchers for efficient and robust content-based image retrieval. In this research, the aim is to highlight the efforts of researchers who conducted some brilliant work and to provide a proof of concept for intelligent content-based image retrieval techniques

Advances in Reinforcement Learning

Reinforcement Learning (RL) is a very dynamic area in terms of theory and application. This book brings together many different aspects of the current research on several fields associated to RL which has been growing rapidly, producing a wide variety of learning algorithms for different applications. Based on 24 Chapters, it covers a very broad variety of topics in RL and their application in autonomous systems. A set of chapters in this book provide a general overview of RL while other chapters focus mostly on the applications of RL paradigms: Game Theory, Multi-Agent Theory, Robotic, Networking Technologies, Vehicular Navigation, Medicine and Industrial Logistic

Learning preferences for personalisation in a pervasive environment

With ever increasing accessibility to technological devices, services and applications there is also an increasing burden on the end user to manage and configure such resources. This burden will continue to increase as the vision of pervasive environments, with ubiquitous access to a plethora of resources, continues to become a reality. It is key that appropriate mechanisms to relieve the user of such burdens are developed and provided. These mechanisms include personalisation systems that can adapt resources on behalf of the user in an appropriate way based on the user's current context and goals. The key knowledge base of many personalisation systems is the set of user preferences that indicate what adaptations should be performed under which contextual situations. This thesis investigates the challenges of developing a system that can learn such preferences by monitoring user behaviour within a pervasive environment. Based on the findings of related works and experience from EU project research, several key design requirements for such a system are identified. These requirements are used to drive the design of a system that can learn accurate and up to date preferences for personalisation in a pervasive environment. A standalone prototype of the preference learning system has been developed. In addition the preference learning system has been integrated into a pervasive platform developed through an EU research project. The preference learning system is fully evaluated in terms of its machine learning performance and also its utility in a pervasive environment with real end users

Context-Specific Preference Learning of One Dimensional Quantitative Geospatial Attributes Using a Neuro-Fuzzy Approach

Change detection is a topic of great importance for modern geospatial information systems. Digital aerial imagery provides an excellent medium to capture geospatial information. Rapidly evolving environments, and the availability of increasing amounts of diverse, multiresolutional imagery bring forward the need for frequent updates of these datasets. Analysis and query of spatial data using potentially outdated data may yield results that are sometimes invalid. Due to measurement errors (systematic, random) and incomplete knowledge of information (uncertainty) it is ambiguous if a change in a spatial dataset has really occurred. Therefore we need to develop reliable, fast, and automated procedures that will effectively report, based on information from a new image, if a change has actually occurred or this change is simply the result of uncertainty. This thesis introduces a novel methodology for change detection in spatial objects using aerial digital imagery. The uncertainty of the extraction is used as a quality estimate in order to determine whether change has occurred. For this goal, we develop a fuzzy-logic system to estimate uncertainty values fiom the results of automated object extraction using active contour models (a.k.a. snakes). The differential snakes change detection algorithm is an extension of traditional snakes that incorporates previous information (i.e., shape of object and uncertainty of extraction) as energy functionals. This process is followed by a procedure in which we examine the improvement of the uncertainty at the absence of change (versioning). Also, we introduce a post-extraction method for improving the object extraction accuracy. In addition to linear objects, in this thesis we extend differential snakes to track deformations of areal objects (e.g., lake flooding, oil spills). From the polygonal description of a spatial object we can track its trajectory and areal changes. Differential snakes can also be used as the basis for similarity indices for areal objects. These indices are based on areal moments that are invariant under general affine transformation. Experimental results of the differential snakes change detection algorithm demonstrate their performance. More specifically, we show that the differential snakes minimize the false positives in change detection and track reliably object deformations

Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning

The symposium presented issues involved in the development of scheduling systems that can deal with resource and time limitations. To qualify, a system must be implemented and tested to some degree on non-trivial problems (ideally, on real-world problems). However, a system need not be fully deployed to qualify. Systems that schedule actions in terms of metric time constraints typically represent and reason about an external numeric clock or calendar and can be contrasted with those systems that represent time purely symbolically. The following topics are discussed: integrating planning and scheduling; integrating symbolic goals and numerical utilities; managing uncertainty; incremental rescheduling; managing limited computation time; anytime scheduling and planning algorithms, systems; dependency analysis and schedule reuse; management of schedule and plan execution; and incorporation of discrete event techniques

Advances in Methodology and Applications of Decision Support Systems

These Proceedings are composed of a selection of papers of the Workshop on Advances in Methodology and Applications of Decision Support Systems, organized by the System and Decision Sciences (SDS) Program of IIASA and the Japan Institute of Systems Research (JISR). The workshop was held at IIASA on August 20-22, 1990. The Methodology of Decision Analysis (MDA) Project of the SDS Program focuses on a system-analytical approach to decision support and is devoted to developing methodology, software and applications of decision support systems concentrated primarily around interactive systems for data analysis, interpretation and multiobjective decisionmaking, including uncertainty analysis and group decision making situations in both their cooperative and noncooperative aspects. The objectives of the research on decision support systems (DSS) performed in cooperation with the MDA Project are to: compare various approaches to decision support systems; advance theory and methodology of decision support; convert existing theories and methodologies into usable (simple to use, user-friendly and robust) tools that could easily be used in solving real-life problems. A principal characteristic of decision support systems is that they must be tuned to specific decision situations, to complex real-life characteristics of every application. Even if the theory and methodology of decision support is quite advanced, every application might provide impulses for further theoretical and methodological advances. Therefore the principle underlying this project is that theoretical and methodological research should be strongly connected to the implementation and applications of its results to sufficiently complicated, real-life examples. This approach results in obtaining really applicable working tools for decision support. The papers for this Proceedings have been selected according to the above summarized framework of the research activities. Therefore, the papers deal both with theoretical and methodological problems and with real-life applications