EMBEDDED LEARNING ROBOT WITH FUZZY Q-LEARNING FOR OBSTACLE AVOIDANCE BEHAVIOR

Fuzzy Q-learning is extending of Q-learning algorithm that uses fuzzy inference system to enable Q-learning holding continuous action and state. This learning has been implemented in various robot learning application like obstacle avoidance and target searching. However, most of them have not been realized in embedded robot. This paper presents implementation of fuzzy Q-learning for obstacle avoidance navigation in embedded mobile robot. The experimental result demonstrates that fuzzy Q-learning enables robot to be able to learn the right policy i.e. to avoid obstacle

Throughput Scaling Of Convolution For Error-Tolerant Multimedia Applications

Convolution and cross-correlation are the basis of filtering and pattern or template matching in multimedia signal processing. We propose two throughput scaling options for any one-dimensional convolution kernel in programmable processors by adjusting the imprecision (distortion) of computation. Our approach is based on scalar quantization, followed by two forms of tight packing in floating-point (one of which is proposed in this paper) that allow for concurrent calculation of multiple results. We illustrate how our approach can operate as an optional pre- and post-processing layer for off-the-shelf optimized convolution routines. This is useful for multimedia applications that are tolerant to processing imprecision and for cases where the input signals are inherently noisy (error tolerant multimedia applications). Indicative experimental results with a digital music matching system and an MPEG-7 audio descriptor system demonstrate that the proposed approach offers up to 175% increase in processing throughput against optimized (full-precision) convolution with virtually no effect in the accuracy of the results. Based on marginal statistics of the input data, it is also shown how the throughput and distortion can be adjusted per input block of samples under constraints on the signal-to-noise ratio against the full-precision convolution.Comment: IEEE Trans. on Multimedia, 201

Reliable Linear, Sesquilinear and Bijective Operations On Integer Data Streams Via Numerical Entanglement

A new technique is proposed for fault-tolerant linear, sesquilinear and bijective (LSB) operations on $M$ integer data streams ($M\geq3$), such as: scaling, additions/subtractions, inner or outer vector products, permutations and convolutions. In the proposed method, the $M$ input integer data streams are linearly superimposed to form $M$ numerically-entangled integer data streams that are stored in-place of the original inputs. A series of LSB operations can then be performed directly using these entangled data streams. The results are extracted from the $M$ entangled output streams by additions and arithmetic shifts. Any soft errors affecting any single disentangled output stream are guaranteed to be detectable via a specific post-computation reliability check. In addition, when utilizing a separate processor core for each of the $M$ streams, the proposed approach can recover all outputs after any single fail-stop failure. Importantly, unlike algorithm-based fault tolerance (ABFT) methods, the number of operations required for the entanglement, extraction and validation of the results is linearly related to the number of the inputs and does not depend on the complexity of the performed LSB operations. We have validated our proposal in an Intel processor (Haswell architecture with AVX2 support) via fast Fourier transforms, circular convolutions, and matrix multiplication operations. Our analysis and experiments reveal that the proposed approach incurs between $0.03\%$ to $7\%$ reduction in processing throughput for a wide variety of LSB operations. This overhead is 5 to 1000 times smaller than that of the equivalent ABFT method that uses a checksum stream. Thus, our proposal can be used in fault-generating processor hardware or safety-critical applications, where high reliability is required without the cost of ABFT or modular redundancy.Comment: to appear in IEEE Trans. on Signal Processing, 201

Failure Mitigation in Linear, Sesquilinear and Bijective Operations On Integer Data Streams Via Numerical Entanglement

A new roll-forward technique is proposed that recovers from any single fail-stop failure in $M$ integer data streams ($M\geq3$) when undergoing linear, sesquilinear or bijective (LSB) operations, such as: scaling, additions/subtractions, inner or outer vector products and permutations. In the proposed approach, the $M$ input integer data streams are linearly superimposed to form $M$ numerically entangled integer data streams that are stored in-place of the original inputs. A series of LSB operations can then be performed directly using these entangled data streams. The output results can be extracted from any $M-1$ entangled output streams by additions and arithmetic shifts, thereby guaranteeing robustness to a fail-stop failure in any single stream computation. Importantly, unlike other methods, the number of operations required for the entanglement, extraction and recovery of the results is linearly related to the number of the inputs and does not depend on the complexity of the performed LSB operations. We have validated our proposal in an Intel processor (Haswell architecture with AVX2 support) via convolution operations. Our analysis and experiments reveal that the proposed approach incurs only $1.8\%$ to $2.8\%$ reduction in processing throughput in comparison to the failure-intolerant approach. This overhead is 9 to 14 times smaller than that of the equivalent checksum-based method. Thus, our proposal can be used in distributed systems and unreliable processor hardware, or safety-critical applications, where robustness against fail-stop failures becomes a necessity.Comment: Proc. 21st IEEE International On-Line Testing Symposium (IOLTS 2015), July 2015, Halkidiki, Greec

Cultural Symbiosis in Society Relationship: Philosophy and Psychological Perspectives

In this article I want to share the idea of relationship symbiosis and its effects on the future of marriage and breakdowns in couples. Symbiosis is the connection two people find between them at the beginning of relationships that cause initial attraction and the decision making process to marry or cohabitate. Culture plays a significant role in symbiosis along with development issues from the type of parental style experienced in early childhood

Robust Modeling of Epistemic Mental States

This work identifies and advances some research challenges in the analysis of facial features and their temporal dynamics with epistemic mental states in dyadic conversations. Epistemic states are: Agreement, Concentration, Thoughtful, Certain, and Interest. In this paper, we perform a number of statistical analyses and simulations to identify the relationship between facial features and epistemic states. Non-linear relations are found to be more prevalent, while temporal features derived from original facial features have demonstrated a strong correlation with intensity changes. Then, we propose a novel prediction framework that takes facial features and their nonlinear relation scores as input and predict different epistemic states in videos. The prediction of epistemic states is boosted when the classification of emotion changing regions such as rising, falling, or steady-state are incorporated with the temporal features. The proposed predictive models can predict the epistemic states with significantly improved accuracy: correlation coefficient (CoERR) for Agreement is 0.827, for Concentration 0.901, for Thoughtful 0.794, for Certain 0.854, and for Interest 0.913.Comment: Accepted for Publication in Multimedia Tools and Application, Special Issue: Socio-Affective Technologie

Price Discrimination and Social Welfare with Demand Uncertainty

Price, output and welfare erects of third-degree price discrimination is analyzed in the context of a risk-averse monopolist, who commits to xed prices before the revelation of random and potentially correlated demands. Assuming the disturbance term to be additive, white noise and the monopolist to have a quadratic (mean-variance) utility function, we show that price discrimination may occur with identical expected demands, the relatively risky but price insensitive market may be charged the lower price and despite linear demands, aggregate expected output may fall while social welfare rises. All of these results, which run counter to those in the deterministic model, are shown to be driven by the asymmetry in the revenue and risk characteristics of the markets and the willingness of the monopolist to trade increased level for reduced risk of expected prot in a manner similar to portfolio choice with risky and correlated assets. Key Words: Monopoly (D42), Monopolization Strategies (L12), Decision Making under Risk and Uncertainty (D81)

Teachers’ Perception about Authentic Materials and Their Implementation in the Classroom

Authentic materials are one of common materials in teaching English. Most of teacher usually use them to be implemented into their classroom. One of the reasons of the teachers they use it in the classroom is in order to give the students example of the real use of English in social life. Other than authentic materials, the teachers also usually use textbook. It is because textbook gives much easier for the teachers to use it in the classroom and also for the students to studied at home. In implementing the authentic materials is not as easy as using textbook. The teachers need to be creative to select and modify the authentic materials to be able to be implemented. It is because the authentic materials are not produced for pedagogical purposes. So, in this study, the objectives of the researcher are to seek about the perception of using authentic materials in the classroom, the reasons of the  teachers  about  the  perception,  and  also  the  way  of  the  teachers  when implementing the authentic materials in the classroom. Regarding the objectives above, the qualitative research is appropriate to be conducted in this study. It is in order to get the deep data from the research subject. To get the data, this study uses interview and observation. By the interview, it gets the  answer  of  all  the  research  questions.  And  by  the  observation,  it  gets  the supporting  data  from  the  interview.  For  data  analysis,  this  study  uses  Dornyei theory to analyze the data. It is started from transcribing the data, coding, growing ideas, interpreting the data, and drawing conclusion. The  result  of  the  research  found  that  most  of  the  teachers  give  positive response  about  using  authentic  materials  in  their  teaching.  They  perceive  that authentic materials are very important to be implemented in the classroom. The teachers also enjoy during the implementation of the authentic materials. They also perceive that authentic materials are very easy to get. And, the last perception is some of the authentic materials are very difficult for the students. For the conclusions, most of teachers are agree about the use of authentic materials for teaching English. Beyond the importance of the authentic materials the teachers only use several authentic materials that provide entertaining to the students like song and movies. The teachers rarely used kinds of authentic materials that contains text like newspaper, magazine and article in order to the difficulties of the words used in the text. Most of the teachers use kinds of authentic materials just to be supplementary materials other than using textbook materials. Keywords: teachers’ perception, authentic materials, implementatio