Clustering Methods for Electricity Consumers: An Empirical Study in Hvaler-Norway

The development of Smart Grid in Norway in specific and Europe/US in general will shortly lead to the availability of massive amount of fine-grained spatio-temporal consumption data from domestic households. This enables the application of data mining techniques for traditional problems in power system. Clustering customers into appropriate groups is extremely useful for operators or retailers to address each group differently through dedicated tariffs or customer-tailored services. Currently, the task is done based on demographic data collected through questionnaire, which is error-prone. In this paper, we used three different clustering techniques (together with their variants) to automatically segment electricity consumers based on their consumption patterns. We also proposed a good way to extract consumption patterns for each consumer. The grouping results were assessed using four common internal validity indexes. We found that the combination of Self Organizing Map (SOM) and k-means algorithms produce the most insightful and useful grouping. We also discovered that grouping quality cannot be measured effectively by automatic indicators, which goes against common suggestions in literature.Comment: 12 pages, 3 figure

Robot learning of everyday object manipulations via human demonstration

We deal with the problem of teaching a robot to manipulate everyday objects through human demonstration. We first design a task descriptor which encapsulates important elements of a task. The design originates from observations that manipulations involved in many everyday object tasks can be considered as a series of sequential rotations and translations, which we call manipulation primitives. We then propose a method that enables a robot to decompose a demonstrated task into sequential manipulation primitives and construct a task descriptor. We also show how to transfer a task descriptor learned from one object to similar objects. In the end, we argue that this framework is highly generic. Particularly, it can be used to construct a robot task database that serves as a manipulation knowledge base for a robot to succeed in manipulating everyday objects

Robot learning of everyday object manipulations via human demonstration

We deal with the problem of teaching a robot to manipulate everyday objects through human demonstration. We first design a task descriptor which encapsulates important elements of a task. The design originates from observations that manipulations involved in many everyday object tasks can be considered as a series of sequential rotations and translations, which we call manipulation primitives. We then propose a method that enables a robot to decompose a demonstrated task into sequential manipulation primitives and construct a task descriptor. We also show how to transfer a task descriptor learned from one object to similar objects. In the end, we argue that this framework is highly generic. Particularly, it can be used to construct a robot task database that serves as a manipulation knowledge base for a robot to succeed in manipulating everyday objects

Experimental Study on Liquid Film Thickness of Annular Flow in Microchannels

Recently, many studies were carried out to investigate the flow and heat transfer characteristics of two-phase flow in microchannels because of its advantage in improving heat exchange efficiency. In these studies, it has been well revealed that liquid film thickness and flow pattern play important roles in determining the heat transfer characteristics. However, these data is still limited to understanding properties of two-phase flow in microchannels because both the effect of tube size, geometry and physical property of working fluids have be taken into account. In this study, visual observation of flow pattern by using a high-speed camera and direct measurement of liquid film thickness by using a laser displacement meter for annular flow inside microchannels with inner diameter of 0.5 mm, 1 mm and 2 mm were conducted. 5 fluids with different surface tension and viscosity (water, ethanol, FC72, 2 different kinds of silicon oil) were selected to investigate the effect of physical properties on the flow pattern and liquid film thickness. Experimental resutls were compared with several existing correlation and numerical simulation results to provide better understanding of two phase flow and heat transfer characteristics at various tube scales and working fluid physical properties

The Columbia Grasp Database

Collecting grasp data for learning and benchmarking purposes is very expensive. It would be helpful to have a standard database of graspable objects, along with a set of stable grasps for each object, but no such database exists. In this work we show how to automate the construction of a database consisting of several hands, thousands of objects, and hundreds of thousands of grasps. Using this database, we demonstrate a novel grasp planning algorithm that exploits geometric similarity between a 3D model and the objects in the database to synthesize form closure grasps. Our contributions are this algorithm, and the database itself, which we are releasing to the community as a tool for both grasp planning and benchmarking