A Policy Search Method For Temporal Logic Specified Reinforcement Learning Tasks

Reward engineering is an important aspect of reinforcement learning. Whether or not the user's intentions can be correctly encapsulated in the reward function can significantly impact the learning outcome. Current methods rely on manually crafted reward functions that often require parameter tuning to obtain the desired behavior. This operation can be expensive when exploration requires systems to interact with the physical world. In this paper, we explore the use of temporal logic (TL) to specify tasks in reinforcement learning. TL formula can be translated to a real-valued function that measures its level of satisfaction against a trajectory. We take advantage of this function and propose temporal logic policy search (TLPS), a model-free learning technique that finds a policy that satisfies the TL specification. A set of simulated experiments are conducted to evaluate the proposed approach

Neuro-mechanical entrainment in a bipedal robotic walking platform

In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace

Explosive welding technique for joining aluminum and steel tubes

Silver sheet is wrapped around aluminum portion of joint. Mylar powder box is wrapped over silver sheet. Explosion welds silver to aluminum. Stainless-steel tube is placed over silver-aluminum interface. Mylar powder box, covered with Mylar tape, is wrapped around steel member. Explosion welds steel to silver-aluminum interface

Twisted Alexander polynomials detect the unknot

The group of a nontrivial knot admits a finite permutation representation such that the corresponding twisted Alexander polynomial is not a unit.Comment: This is the version published by Algebraic & Geometric Topology on 14 November 200

Electric battery and method for operating same Patent

Elimination of two step voltage discharge property of silver zinc batteries by using divalent silver oxide capacity of cell to charge anodes to monovalent silver stat

In vitro Effects of Two Silver Electrodes on Select Wound Pathogens

The use of electrical current to promote wound healing is well documented. However, little is understood about the effects of micro-amperage direct current (μADC) on growth of wound pathogens. The purpose of this project was to investigate the antibacterial effects of a silver wire/silver nylon electrode carrying μADC in vitro on several Gram positive and Gram negative bacteria. The current was delivered via silver wire and silver nylon electrodes at an amplitude of 100 μA for a 30-minute duration in an in vitro system. Results demonstrated that only silver wire carrying current inhibited bacterial growth around the anode. In contrast, the silver nylon electrode with or without current exhibited antibacterial activity around both the anode and cathode. The results of this study provide convincing evidence that the silver ion (AG+) is responsible for suppressing bacterial growth. Both silver electrodes were bactericidal with all Gram negative bacteria tested and bacteriostatis with most Gram positive bacteria tested, suggesting that the cell wall composition may be a determining factor in the effectiveness of the AG+

Monolayer protection for eletrochemical migration control in silver nanocomposite

©2006 American Institute of Physics. The electronic version of this article is the complete one and can be found online at: http://link.aip.org/link/?APPLAB/89/112112/1DOI:10.1063/1.2353813The authors introduced an effective approach of using monolayer-protected silver nanoparticles to reduce silver migration for electronic device interconnect applications. Formation of surface complex between the carboxylate anion and surface silver ion reduces the solubility and diffusivity significantly of migration components and therefore contributes to effective migration control. A fundamental understanding of the mechanism of silver migration control was conducted by studying the current-voltage relationships of the nanocomposites with a migration model. The control of silver migration enables the application of the silver composites in fine pitch and high performance electronic device interconnects

An environmentally benign antimicrobial nanoparticle based on a silver-infused lignin core

Silver nanoparticles have antibacterial properties, but their use has been a cause for concern because they persist in the environment. Here, we show that lignin nanoparticles infused with silver ions and coated with a cationic polyelectrolyte layer form a biodegradable and green alternative to silver nanoparticles. The polyelectrolyte layer promotes the adhesion of the particles to bacterial cell membranes and, together with silver ions, can kill a broad spectrum of bacteria, including Escherichia coli, Pseudomonas aeruginosa and quaternary-amine-resistant Ralstonia sp. Ion depletion studies have shown that the bioactivity of these nanoparticles is time-limited because of the desorption of silver ions. High-throughput bioactivity screening did not reveal increased toxicity of the particles when compared to an equivalent mass of metallic silver nanoparticles or silver nitrate solution. Our results demonstrate that the application of green chemistry principles may allow the synthesis of nanoparticles with biodegradable cores that have higher antimicrobial activity and smaller environmental impact than metallic silver nanoparticles