Model identification and model analysis in robot training

Robot training is a fast and efficient method of obtaining robot control code. Many current machine learning paradigms used for this purpose, however, result in opaque models that are difficult, if not impossible to analyse, which is an impediment in safety-critical applications or application scenarios where humans and robots occupy the same workspace. In experiments with a Magellan Pro mobile robot we demonstrate that it is possible to obtain transparent models of sensor-motor couplings that are amenable to subsequent analysis, and how such analysis can be used to refine and tune the models post hoc

Methods of space radiation dose analysis with applications to manned space systems

The full potential of state-of-the-art space radiation dose analysis for manned missions has not been exploited. Point doses have been overemphasized, and the critical dose to the bone marrow has been only crudely approximated, despite the existence of detailed man models and computer codes for dose integration in complex geometries. The method presented makes it practical to account for the geometrical detail of the astronaut as well as the vehicle. Discussed are the major assumptions involved and the concept of applying the results of detailed proton dose analysis to the real-time interpretation of on-board dosimetric measurements

A study to guide research and development toward an operational meteorological sounding rocket system Final report, Oct. 1966 - Apr. 1967

Research and development guide for operational meteorological sounding rocket system stressing vehicle

Evaluation of the Outpatients consultation in East Kent

CHSS undertook to support Kent and Medway Commissioning Support (KMCS: acting on behalf of East Kent Hospitals University NHS Foundation Trust and NHS Canterbury and Coastal Clinical Commissioning Group) in undertaking an independent analysis of a consultation on Outpatient services in East Kent. The aim of the consultation was to gain opinions from the public of a proposed Outpatient Clinical Strategy that intends to improve local access to, and facilities for, Outpatient services, and to offer a wider range of services on each site. CHSS advised on the survey, evaluated the consultation process, ran focus groups and carried out quantitative and qualitative analysis of the responses gathered during the consultation period (9th December 2013 to 17th March, 2014 - originally 9th March but period was extended). Ethical approval was not required for a consultation process, but ethical principles have been adhered to regarding data confidentiality and informed consent for the focus groups

The solid state remote power controller: Its status, use and perspective

Solid state remote power controllers (RPC's) are now available to control and protect all types of loads in both ac and dc power distribution systems. RPC's possess many outstanding qualities that make them attractive for most system applications. A review is given of the present state-of-the-art and applications for solid state RPC's for both aerospace and terrestrial systems

Accurate robot simulation through system identification

Robot simulators are useful tools for developing robot behaviours. They provide a fast and efficient means to test robot control code at the convenience of the office desk. In all but the simplest cases though, due to the complexities of the physical systems modelled in the simulator, there are considerable differences between the behaviour of the robot in the simulator and that in the real world environment. In this paper we present a novel method to create a robot simulator using real sensor data. Logged sensor data is used to construct a mathematically explicit model(in the form of a NARMAX polynomial) of the robot’s environment. The advantage of such a transparent model — in contrast to opaque modelling methods such as artificial neural networks — is that it can be analysed to characterise the modelled system, using established mathematical methods In this paper we compare the behaviour of the robot running a particular task in both the simulator and the real-world using qualitative and quantitative measures including statistical methods to investigate the faithfulness of the simulator

Route training in mobile robots through system identification

Fundamental sensor-motor couplings form the backbone of most mobile robot control tasks, and often need to be implemented fast, efficiently and nevertheless reliably. Machine learning techniques are therefore often used to obtain the desired sensor-motor competences. In this paper we present an alternative to established machine learning methods such as artificial neural networks, that is very fast, easy to implement, and has the distinct advantage that it generates transparent, analysable sensor-motor couplings: system identification through nonlinear polynomial mapping. This work, which is part of the RobotMODIC project at the universities of Essex and Sheffield, aims to develop a theoretical understanding of the interaction between the robot and its environment. One of the purposes of this research is to enable the principled design of robot control programs. As a first step towards this aim we model the behaviour of the robot, as this emerges from its interaction with the environment, with the NARMAX modelling method (Nonlinear, Auto-Regressive, Moving Average models with eXogenous inputs). This method produces explicit polynomial functions that can be subsequently analysed using established mathematical methods. In this paper we demonstrate the fidelity of the obtained NARMAX models in the challenging task of robot route learning; we present a set of experiments in which a Magellan Pro mobile robot was taught to follow four different routes, always using the same mechanism to obtain the required control law

Service Development Programme: Maximising Life Opportunities for Teenagers. Teenagers' Views and Experiences of Sex and Relationships Education, Sexual Health Services and Family Support Services in Kent - Survey findings for Year 2

This brief report provides findings from data collected in year 2 of a survey of teenagers' views and experiences of sex and relationships education and sexual health services in Kent. The data in year 2 was collected in Autumn 2005, a year after the data collected in year 1. The purpose of this report is to highlight the results in year 2 which differ from the year 1 survey data. It is to be used in conjunction with the report in year 1 entitled "Service Development Programme: Maximising Life Opportunies for Teenagers: Teenagers' Views and Experiences of Sex and Relationships Educatioon, Sexual Health Services and Family Suupport Services in Kent: Survey Findings July 2005". The final report on the survey will consist of findings from further analysis of the data from year 1 and year 2 merged together, available at the end of 2006

Identification of a spatio-temporal model of crystal growth based on boundary curvature

A new method of identifying the spatio-temporal transition rule of crystal growth is introduced based on the connection between growth kinetics and dentritic morphology. Using a modified three-point-method, curvatures of the considered crystal branch are calculated and curvature direction is used to measure growth velocity. A polynomial model is then produced based on a curvature-velocity relationship to represent the spatio-temporal growth process. A very simple simulation example is used initially to clearly explain the methodology. The results of identifying a model from a real crystal growth experiment show that the proposed method can produce a good representation of crystal growth

Visual task identification and characterisation using polynomial models

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design process. This paper proposes a method of dealing with these issues by a) establishing task-achieving sensor-motor couplings through robot training, and b) representing these couplings through transparent mathematical functions that can be used to form hypotheses and theoretical analyses of robot behaviour. We demonstrate the viability of this approach by teaching a mobile robot to track a moving football and subsequently modelling this task using the NARMAX system identification technique