Non-parametric policy search with limited information loss

Learning complex control policies from non-linear and redundant sensory input is an important challenge for reinforcement learning algorithms. Non-parametric methods that approximate values functions or transition models can address this problem, by adapting to the complexity of the dataset. Yet, many current non-parametric approaches rely on unstable greedy maximization of approximate value functions, which might lead to poor convergence or oscillations in the policy update. A more robust policy update can be obtained by limiting the information loss between successive state-action distributions. In this paper, we develop a policy search algorithm with policy updates that are both robust and non-parametric. Our method can learn non-parametric control policies for infinite horizon continuous Markov decision processes with non-linear and redundant sensory representations. We investigate how we can use approximations of the kernel function to reduce the time requirements of the demanding non-parametric computations. In our experiments, we show the strong performance of the proposed method, and how it can be approximated efficiently. Finally, we show that our algorithm can learn a real-robot underpowered swing-up task directly from image data

Learning of non-parametric control policies with high-dimensional state features

Learning complex control policies from highdimensional sensory input is a challenge for reinforcement learning algorithms. Kernel methods that approximate values functions or transition models can address this problem. Yet, many current approaches rely on instable greedy maximization. In this paper, we develop a policy search algorithm that integrates robust policy updates and kernel embeddings. Our method can learn nonparametric control policies for infinite horizon continuous MDPs with high-dimensional sensory representations. We show that our method outperforms related approaches, and that our algorithm can learn an underpowered swing-up task task directly from highdimensional image data

Non-parametric policy search with limited information loss

Learning complex control policies from non-linear and redundant sensory input is an important challenge for reinforcement learning algorithms. Non-parametric methods that approximate values functions or transition models can address this problem, by adapting to the complexity of the data set. Yet, many current non-parametric approaches rely on unstable greedy maximization of approximate value functions, which might lead to poor convergence or oscillations in the policy update. A more robust policy update can be obtained by limiting the information loss between successive state-action distributions. In this paper, we develop a policy search algorithm with policy updates that are both robust and non-parametric. Our method can learn non- parametric control policies for infinite horizon continuous Markov decision processes with non-linear and redundant sensory representations. We investigate how we can use approximations of the kernel function to reduce the time requirements of the demanding non-parametric computations. In our experiments, we show the strong performance of the proposed method, and how it can be approximated efficiently. Finally, we show that our algorithm can learn a real-robot under-powered swing-up task directly from image data

Ultra-Thin Chip Package (UTCP) and stretchable circuit technologies for wearable ECG system

A comfortable, wearable wireless ECG monitoring system is proposed. The device is realized using the combination of two proprietary advanced technologies for electronic packaging and interconnection : the UTCP (Ultra-Thin Chip Package) technology and the SMI (Stretchable Mould Interconnect) technology for elastic and stretchable circuits. Introduction of these technologies results in small fully functional devices, exhibiting a significant increase in user comfort compared to devices fabricated with more conventional packaging and interconnection technologies

Popliteus impingement after TKA may occur with well-sized prostheses

To determine the mechanisms and extents of popliteus impingements before and after TKA and to investigate the influence of implant sizing. The hypotheses were that (1) popliteus impingements after TKA may occur at both the tibia and the femur, and (2) even with an apparently well-sized prosthesis, popliteal tracking during knee flexion is modified compared to the preoperative situation. The location of the popliteus in three cadaver knees was measured using computed tomography, before and after implantation of plastic TKA replicas, by injecting the tendon with radiopaque liquid. The pre- and post-operative positions of the popliteus were compared from full extension to deep flexion using normosized, oversized, and undersized implants (one size increments). At the tibia, TKA caused the popliteus to translate posteriorly, mostly in full extension: 4.1 +/- 2 mm for normosized implants, and 15.8 +/- 3 mm with oversized implants, but no translations were observed when using undersized implants. At the femur, TKA caused the popliteus to translate laterally at deeper flexion angles, peaking between 80A degrees and 120A degrees: 2 +/- 0.4 mm for normosized implants and 2.6 +/- 0.5 mm with oversized implants. Three-dimensional analysis revealed prosthetic overhang at the posterosuperior corner of normosized and oversized femoral components (respectively, up to 2.9 mm and 6.6 mm). A well-sized tibial component modifies popliteal tracking, while an undersized tibial component maintains more physiologic patterns. Oversizing shifts the popliteus considerably throughout the full arc of motion. This study suggests that both femoro- and tibio-popliteus impingements could play a role in residual pain and stiffness after TKA

Hostile media perceptions of friendly media do reinforce partisanship

The hostile media effect (HME) entails that partisanship incites hostile perceptions of media content. However, other research underscores that partisans selectively turn to like-minded media, resulting in a friendly media phenomenon (FMP). The present study suggests that the HME and FMP co-exist, and, furthermore, jointly affect people’s voting behavior. More specifically, based on a media content analysis and a long-term panel survey surrounding the 2014 election for the European Parliament in the Netherlands, we find that people selectively turn to like-minded friendly media (FMP), but perceive coverage about the EU (European Union) in these media as relatively unsupportive of their own position (HME). In this context, the FMP and HME appear to jointly influence voting behavior. People cast votes in line with the objectively partisan-friendly media tone of their self-selected media. However, to a certain extent they do so, because they seem motivated to counteract the seemingly unfair or insufficient coverage about the EU

Faecal shedding of arcobacter species in Belgian pigs

The prevalence of Arcobacter was determined in porcine faecal samples collected at slaughterhouse and two unrelated finishing barns (A and B) using the previously developed Arcobacter isolation procedure. In 43.9% of the slaughterhouse samples tested (n=82) arcobacters were detected, and identified as A. butzleri and A. cryaerophilus. Two pigs shedded both species simultaneously. On farm A (n=98), arcobacters were isolated from 16.3% of the samples and identified as A. cryaerophilus and A. skirrowii. In samples (n=118) collected at farm B, arcobacters were detected in 45.1% of the samples. A. butzleri was the most frequently occurring species. Co-infections were found in 11 animals. Arocobacters were detected in clinically healthy pigs at contamination levels up to 103 cfu/g faeces

The relation between patient discomfort and uncompensated forces of a patient support device for breast and regional lymph node radiotherapy

Although many authors stated that a user-centred design approach in medical device development has added values, the most common research approach within healthcare is evidence-based medicine, which tend to focus on functional data rather than patient wellbeing and comfort. End user comfort is well addressed in literature for commercial products such as seats and hand tools but no data was found for medical devices. A commercial patient support device for breast radiotherapy was analysed and a relation was found between discomfort and uncompensated internal body forces. Derived from CT-images, simplified patient free-body diagrams were analysed and pain and comfort evaluated. Subsequently, a new patient position was established and prototypes were developed. Patient comfort- and prototype optimization was done through iterative prototyping. With this approach, we were able to compensate all internal body forces and establish a force neutral patient free-body diagram. This resulted in comfortable patient positioning and favourable medical results

3D Integration of ultra-thin functional devices inside standard multilayer flex laminates

Nowadays, more and more wearable electronic systems are being realized on flexible substrates. Main limiting factor for the mechanical flexibility of those wearable systems are typically the rigid components - especially the relatively large active components - mounted on top and bottom of the flex substrates. Integration of these active devices inside the flex multilayers will not only enable for a high degree of miniaturization but can also improve the total flexibility of the system. This paper now presents a technology for the 3D embedding of ultra-thin active components inside standard flex laminates. Active components are first thinned down to 20-25 mu m, and packaged as an Ultra-Thin Chip Pack-age (UTCP). These UTCP packages will serve as flexible interposer: all layers are so thin, that the whole package is even bendable. The limited total pack-age thickness of only 60 mu m makes them also suitable for lamination in between commercial flex panels, replacing for example the direct die integration. A fan-out metallization on the package facilitates easy testing before integration, solving the KGD issue, and can also relax the chip contact pitch, excluding the need for very precise placement and the use of expensive, fine-pitch flex substrates. The technology is successfully demonstrated for the 3D-integration of a Texas Instrument MSP430 low-power microcontroller, inside the conventional double sided flex laminate of a wireless ECG system. The microcontrollers are first thinned down and UTCP pack-aged These pack-ages are then laminated in between the large panels of the flex multilayer stack and finally connected to the different layers of the flex board by metallized through-hole interconnects. The thinning down, the UTCP pack-aging and the 3D-integration inside the commercial flex panels did not have any affect on the functionality of the TI microcontroller. Smaller SMD's were finally mounted on top and bottom of the integrated device