Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking

In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrotor to another quadrotor with different mass or aerodynamic properties). The goal is to leverage knowledge from the source robot such that the target robot achieves high-accuracy trajectory tracking on arbitrary trajectories from the first attempt with minimal data recollection and training. Most existing approaches for multi-robot knowledge transfer are based on post-analysis of datasets collected from both robots. In this work, we study the feasibility of impromptu transfer of models across robots by learning an error prediction module online. In particular, we analytically derive the form of the mapping to be learned by the online module for exact tracking, propose an approach for characterizing similarity between robots, and use these results to analyze the stability of the overall system. The proposed approach is illustrated in simulation and verified experimentally on two different quadrotors performing impromptu trajectory tracking tasks, where the quadrotors are required to accurately track arbitrary hand-drawn trajectories from the first attempt.Comment: European Control Conference (ECC) 201

Weight status in young adulthood and survival after cardiovascular diseases and cancer

Peer reviewe

Body mass index, asthma and allergic rhinoconjunctivitis in Swedish conscripts—a national cohort study over three decades

SummaryObesity and overweight have been associated with an increased risk of asthma in children as well as adults. The association between atopy and body mass index (BMI) is less clear. It has also been suggested that the link between a high BMI and asthma could be a recent phenomenon. The objective of this study was to assess whether the association with BMI differed between allergic rhinoconjunctivitis and asthma and if these associations have changed over time.The Swedish Military Service Conscription Register was linked to the Register of the Total Population and the Population and Housing Censuses. Asthma (with and without allergic rhinoconjunctivitis) and allergic rhinoconjunctivitis at conscription were analysed in relation to BMI for 1,247,038 male conscripts in successive cohorts born between 1952 and 1977. Obesity was associated with asthma without allergic rhinoconjunctivitis, adjusted OR 1.53 (95% CI 1.43–1.63), and with asthma with allergic rhinoconjunctivitis, adjusted OR 1.34 (95% CI 1.20–1.50), but not with allergic rhinoconjunctivitis, OR 1.00 (95% CI 0.97–1.03) after multivariate analyses with adjustments for confounders. The odds ratios were similar in three successive cohorts (conscripts born in 1952–1961, 1962–1971 and 1972–1977). Underweight was associated with a slightly increased risk for all three conditions. The increased risk of asthma in young Swedish men with obesity has remained unchanged over a period of three decades