Scalable approximate FRNN-OWA classification

Fuzzy Rough Nearest Neighbour classification with Ordered Weighted Averaging operators (FRNN-OWA) is an algorithm that classifies unseen instances according to their membership in the fuzzy upper and lower approximations of the decision classes. Previous research has shown that the use of OWA operators increases the robustness of this model. However, calculating membership in an approximation requires a nearest neighbour search. In practice, the query time complexity of exact nearest neighbour search algorithms in more than a handful of dimensions is near-linear, which limits the scalability of FRNN-OWA. Therefore, we propose approximate FRNN-OWA, a modified model that calculates upper and lower approximations of decision classes using the approximate nearest neighbours returned by Hierarchical Navigable Small Worlds (HNSW), a recent approximative nearest neighbour search algorithm with logarithmic query time complexity at constant near-100% accuracy. We demonstrate that approximate FRNN-OWA is sufficiently robust to match the classification accuracy of exact FRNN-OWA while scaling much more efficiently. We test four parameter configurations of HNSW, and evaluate their performance by measuring classification accuracy and construction and query times for samples of various sizes from three large datasets. We find that with two of the parameter configurations, approximate FRNN-OWA achieves near-identical accuracy to exact FRNN-OWA for most sample sizes within query times that are up to several orders of magnitude faster

Sample Efficient Optimization for Learning Controllers for Bipedal Locomotion

Learning policies for bipedal locomotion can be difficult, as experiments are expensive and simulation does not usually transfer well to hardware. To counter this, we need al- gorithms that are sample efficient and inherently safe. Bayesian Optimization is a powerful sample-efficient tool for optimizing non-convex black-box functions. However, its performance can degrade in higher dimensions. We develop a distance metric for bipedal locomotion that enhances the sample-efficiency of Bayesian Optimization and use it to train a 16 dimensional neuromuscular model for planar walking. This distance metric reflects some basic gait features of healthy walking and helps us quickly eliminate a majority of unstable controllers. With our approach we can learn policies for walking in less than 100 trials for a range of challenging settings. In simulation, we show results on two different costs and on various terrains including rough ground and ramps, sloping upwards and downwards. We also perturb our models with unknown inertial disturbances analogous with differences between simulation and hardware. These results are promising, as they indicate that this method can potentially be used to learn control policies on hardware.Comment: To appear in International Conference on Humanoid Robots (Humanoids '2016), IEEE-RAS. (Rika Antonova and Akshara Rai contributed equally

A comparative study of the AHP and TOPSIS methods for implementing load shedding scheme in a pulp mill system

The advancement of technology had encouraged mankind to design and create useful equipment and devices. These equipment enable users to fully utilize them in various applications. Pulp mill is one of the heavy industries that consumes large amount of electricity in its production. Due to this, any malfunction of the equipment might cause mass losses to the company. In particular, the breakdown of the generator would cause other generators to be overloaded. In the meantime, the subsequence loads will be shed until the generators are sufficient to provide the power to other loads. Once the fault had been fixed, the load shedding scheme can be deactivated. Thus, load shedding scheme is the best way in handling such condition. Selected load will be shed under this scheme in order to protect the generators from being damaged. Multi Criteria Decision Making (MCDM) can be applied in determination of the load shedding scheme in the electric power system. In this thesis two methods which are Analytic Hierarchy Process (AHP) and Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) were introduced and applied. From this thesis, a series of analyses are conducted and the results are determined. Among these two methods which are AHP and TOPSIS, the results shown that TOPSIS is the best Multi criteria Decision Making (MCDM) for load shedding scheme in the pulp mill system. TOPSIS is the most effective solution because of the highest percentage effectiveness of load shedding between these two methods. The results of the AHP and TOPSIS analysis to the pulp mill system are very promising