96 research outputs found

    Behavior policy learning: Learning multi-stage tasks via solution sketches and model-based controllers

    Get PDF
    Multi-stage tasks are a challenge for reinforcement learning methods, and require either specific task knowledge (e.g., task segmentation) or big amount of interaction times to be learned. In this paper, we propose Behavior Policy Learning (BPL) that effectively combines 1) only few solution sketches, that is demonstrations without the actions, but only the states, 2) model-based controllers, and 3) simulations to effectively solve multi-stage tasks without strong knowledge about the underlying task. Our main intuition is that solution sketches alone can provide strong data for learning a high-level trajectory by imitation, and model-based controllers can be used to follow this trajectory (we call it behavior) effectively. Finally, we utilize robotic simulations to further improve the policy and make it robust in a Sim2Real style. We evaluate our method in simulation with a robotic manipulator that has to perform two tasks with variations: 1) grasp a box and place it in a basket, and 2) re-place a book on a different level within a bookcase. We also validate the Sim2Real capabilities of our method by performing real-world experiments and realistic simulated experiments where the objects are tracked through an RGB-D camera for the first task

    Accelerated swell testing of artificial sulfate bearing lime stabilised cohesive soils

    Get PDF
    This paper reports on the physico-chemical response of two lime stabilised sulfate bearing artificial soils subject to the European Accelerated Volumetric Swell Test (EN13286-49). At various intervals during the test, a specimen was removed and subject to compositional and microstructural analysis. Ettringite was formed by both soils types, but with significant differences in crystal morphology. Ettringite crystals formed from kaolin based soils were very small, colloidal in size and tended to form on the surface of other particles. Conversely, those formed from montmorillonite were relatively large and typically formed away from the surface in the pore solution. It was concluded that the mechanism by which ettringite forms is determined by the hydroxide ion concentration in the pore solution and the fundamental structure of the bulk clay. In the kaolin soil, ettringite forms by a topochemical mechanism and expands by crystal swelling. In the montmorillonite soil, it forms by a through-solution mechanism and crystal growth

    Opportunities and challenges in the use of coal fly ash for soil improvements – a review

    Get PDF
    Coal fly ash (CFA), a by-product of coal combustion has been regarded as a problematic solid waste, mainly due to its potentially toxic trace elements, PTEs (e.g. Cd, Cr, Ni, Pb) and organic compounds (e.g. PCBs, PAHs) content. However, CFA is a useful source of essential plant nutrients (e.g. Ca, Mg, K, P, S, B, Fe, Cu and Zn). Uncontrolled land disposal of CFA is likely to cause undesirable changes in soil conditions, including contamination with PTEs, PAHs and PCBs. Prudent CFA land application offers considerable opportunities, particularly for nutrient supplementation, pH correction and ameliorating soil physical conditions (soil compaction, water retention and drainage). Since CFA contains little or no N and organic carbon, and CFA-borne P is not readily plant available, a mixture of CFA and manure or sewage sludge (SS) is better suited than CFA alone. Additionally, land application of such a mixture can mitigate the mobility of SS-borne PTEs, which is known to increase following cessation of SS application. Research analysis further shows that application of alkaline CFA with or without other amendments can help remediate at least marginally metal contaminated soils by immobilisation of mobile metal forms. CFA land application with SS or other source of organic carbon, N and P can help effectively reclaim/restore mining-affected lands. Given the variability in the nature and composition of CFA (pH, macro- and micro-nutrients) and that of soil (pH, texture and fertility), the choice of CFA (acidic or alkaline and its application rate) needs to consider the properties and problems of the soil. CFA can also be used as a low cost sorbent for the removal of organic and inorganic contaminants from wastewater streams; the disposal of spent CFA however can pose further challenges. Problems in CFA use as a soil amendment occur when it results in undesirable change in soil pH, imbalance in nutrient supply, boron toxicity in plants, excess supply of sulphate and PTEs. These problems, however, are usually associated with excess or inappropriate CFA applications. The levels of PAHs and PCBs in CFA are generally low; their effects on soil biota, uptake by plants and soil persistence, however, need to be assessed. In spite of this, co-application of CFA with manure or SS to land enhances its effectiveness in soil improvements

    Dredged Material Stabilization: The Role of Mellowing on Cured Properties

    No full text

    Field-Scale Evaluation of In-Situ and Ex-Situ Treatment Technologies for Chromite Ore Processing Residue (COPR)

    No full text
    corecore