Multiform Adaptive Robot Skill Learning from Humans

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile, technologies such as robot learning from demonstration have enabled humans to intuitively train robots. This paper discusses a new level of robotic learning-based manipulation. In contrast to the single form of learning from demonstration, we propose a multiform learning approach that integrates additional forms of skill acquisition, including adaptive learning from definition and evaluation. Moreover, going beyond state-of-the-art technologies of handling purely rigid or soft objects in a pseudo-static manner, our work allows robots to learn to handle partly rigid partly soft objects with time-critical skills and sophisticated contact control. Such capability of robotic manipulation offers a variety of new possibilities in human-robot interaction.Comment: Accepted to 2017 Dynamic Systems and Control Conference (DSCC), Tysons Corner, VA, October 11-1

On metastable configurations of small-world networks

We calculate the number of metastable configurations of Ising small-world networks which are constructed upon superimposing sparse Poisson random graphs onto a one-dimensional chain. Our solution is based on replicated transfer-matrix techniques. We examine the denegeracy of the ground state and we find a jump in the entropy of metastable configurations exactly at the crossover between the small-world and the Poisson random graph structures. We also examine the difference in entropy between metastable and all possible configurations, for both ferromagnetic and bond-disordered long-range couplings.Comment: 9 pages, 4 eps figure

Transactions on replicated data in Mobile Ad Hoc Nets - and some further issues of large scalable networks

In the Coco/Da project1 data centric middleware functions for Mobile Ad Hoc Nets have been investigated and developed. Transactional support2 and data replication are important functions of traditional data management systems. Using a volatile communication infrastructure, replication plays an even more important role than in fixed wired systems in order to increase availability of data. Keeping replica consistent, however, is more involved with unreliable communication

Mobile Synchronizing Petri Nets: A Choreographic Approach for Coordination in Ubiquitous Systems

AbstractThe term Ubiquitous Computing was coined by Mark Weiser almost two decades ago. Despite all the time that has passed since Weiser's vision, ubiquitous computing still has a long way ahead to become a pervasive reality. One of the reasons for this may be the lack of widely accepted formal models capable of capturing and analyzing the complexity of the new paradigm. We propose a simple Petri Net based model to study some of its main characteristics. We model both devices and software components as a special kind of coloured Petri Nets, located in locations, that can move to other locations and synchronize with other co-located nets, offering and requesting services. We obtain an amenable model for ubiquitous computing, due to its graphical representation. We present our proposal in a progressive way, first presenting a basic model where coordination is formalized by the synchronized firing of pairs of compatible transitions that offer and request a specific service, and ad hoc networks are modeled by constraining mobility by the dynamic acquisition of locality names. Next, we introduce a mechanism for the treatment of robust security properties, namely the generation of fresh private names, to be used for authentication properties