91,993 research outputs found

    Lifelong Federated Reinforcement Learning: A Learning Architecture for Navigation in Cloud Robotic Systems

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    This paper was motivated by the problem of how to make robots fuse and transfer their experience so that they can effectively use prior knowledge and quickly adapt to new environments. To address the problem, we present a learning architecture for navigation in cloud robotic systems: Lifelong Federated Reinforcement Learning (LFRL). In the work, We propose a knowledge fusion algorithm for upgrading a shared model deployed on the cloud. Then, effective transfer learning methods in LFRL are introduced. LFRL is consistent with human cognitive science and fits well in cloud robotic systems. Experiments show that LFRL greatly improves the efficiency of reinforcement learning for robot navigation. The cloud robotic system deployment also shows that LFRL is capable of fusing prior knowledge. In addition, we release a cloud robotic navigation-learning website based on LFRL

    Causality detection and turbulence in fusion plasmas

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    This work explores the potential of an information-theoretical causality detection method for unraveling the relation between fluctuating variables in complex nonlinear systems. The method is tested on some simple though nonlinear models, and guidelines for the choice of analysis parameters are established. Then, measurements from magnetically confined fusion plasmas are analyzed. The selected data bear relevance to the all-important spontaneous confinement transitions often observed in fusion plasmas, fundamental for the design of an economically attractive fusion reactor. It is shown how the present method is capable of clarifying the interaction between fluctuating quantities such as the turbulence amplitude, turbulent flux, and Zonal Flow amplitude, and uncovers several interactions that were missed by traditional methods.Comment: 26 pages, 14 figure

    Multimodal segmentation of lifelog data

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    A personal lifelog of visual and audio information can be very helpful as a human memory augmentation tool. The SenseCam, a passive wearable camera, used in conjunction with an iRiver MP3 audio recorder, will capture over 20,000 images and 100 hours of audio per week. If used constantly, very soon this would build up to a substantial collection of personal data. To gain real value from this collection it is important to automatically segment the data into meaningful units or activities. This paper investigates the optimal combination of data sources to segment personal data into such activities. 5 data sources were logged and processed to segment a collection of personal data, namely: image processing on captured SenseCam images; audio processing on captured iRiver audio data; and processing of the temperature, white light level, and accelerometer sensors onboard the SenseCam device. The results indicate that a combination of the image, light and accelerometer sensor data segments our collection of personal data better than a combination of all 5 data sources. The accelerometer sensor is good for detecting when the user moves to a new location, while the image and light sensors are good for detecting changes in wearer activity within the same location, as well as detecting when the wearer socially interacts with others

    Continuous Improvement Through Knowledge-Guided Analysis in Experience Feedback

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    Continuous improvement in industrial processes is increasingly a key element of competitiveness for industrial systems. The management of experience feedback in this framework is designed to build, analyze and facilitate the knowledge sharing among problem solving practitioners of an organization in order to improve processes and products achievement. During Problem Solving Processes, the intellectual investment of experts is often considerable and the opportunities for expert knowledge exploitation are numerous: decision making, problem solving under uncertainty, and expert configuration. In this paper, our contribution relates to the structuring of a cognitive experience feedback framework, which allows a flexible exploitation of expert knowledge during Problem Solving Processes and a reuse such collected experience. To that purpose, the proposed approach uses the general principles of root cause analysis for identifying the root causes of problems or events, the conceptual graphs formalism for the semantic conceptualization of the domain vocabulary and the Transferable Belief Model for the fusion of information from different sources. The underlying formal reasoning mechanisms (logic-based semantics) in conceptual graphs enable intelligent information retrieval for the effective exploitation of lessons learned from past projects. An example will illustrate the application of the proposed approach of experience feedback processes formalization in the transport industry sector

    Compressed Sensing based Dynamic PSD Map Construction in Cognitive Radio Networks

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    In the context of spectrum sensing in cognitive radio networks, collaborative spectrum sensing has been proposed as a way to overcome multipath and shadowing, and hence increasing the reliability of the sensing. Due to the high amount of information to be transmitted, a dynamic compressive sensing approach is proposed to map the PSD estimate to a sparse domain which is then transmitted to the fusion center. In this regard, CRs send a compressed version of their estimated PSD to the fusion center, whose job is to reconstruct the PSD estimates of the CRs, fuse them, and make a global decision on the availability of the spectrum in space and frequency domains at a given time. The proposed compressive sensing based method considers the dynamic nature of the PSD map, and uses this dynamicity in order to decrease the amount of data needed to be transmitted between CR sensors’ and the fusion center. By using the proposed method, an acceptable PSD map for cognitive radio purposes can be achieved by only 20 % of full data transmission between sensors and master node. Also, simulation results show the robustness of the proposed method against the channel variations, diverse compression ratios and processing times in comparison with static methods

    Enhancing the effectiveness of ligand-based virtual screening using data fusion

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    Data fusion is being increasingly used to combine the outputs of different types of sensor. This paper reviews the application of the approach to ligand-based virtual screening, where the sensors to be combined are functions that score molecules in a database on their likelihood of exhibiting some required biological activity. Much of the literature to date involves the combination of multiple similarity searches, although there is also increasing interest in the combination of multiple machine learning techniques. Both approaches are reviewed here, focusing on the extent to which fusion can improve the effectiveness of searching when compared with a single screening mechanism, and on the reasons that have been suggested for the observed performance enhancement
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