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1.
Concept learning in robotics is an extremely challenging problem: sensory data is often high-dimensional, and noisy due to specularities and other irregularities. In this paper, we investigate two general strategies to speed up learning, based on spatial decomposition of the sensory representation, and simultaneous learning of multiple classes using a shared structure. We study two concept learning scenarios: a hallway navigation problem, where the robot has to induce features such as opening or wall. The second task is recycling, where the robot has to learn to recognize objects, such as a trash can. We use a common underlying function approximator in both studies in the form of a feedforward neural network, with several hundred input units and multiple output units. Despite the high degree of freedom afforded by such an approximator, we show the two strategies provide sufficient bias to achieve rapid learning. We provide detailed experimental studies on an actual mobile robot called PAVLOV to illustrate the effectiveness of this approach.  相似文献   

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We analyze four nce Memed novels of Yaar Kemal using six style markers: most frequent words, syllable counts, word type – or part of speech – information, sentence length in terms of words, word length in text, and word length in vocabulary. For analysis we divide each novel into five thousand word text blocks and count the frequencies of each style marker in these blocks. The style markers showing the best separation are most frequent words and sentence lengths. We use stepwise discriminant analysis to determine the best discriminators of each style marker. We then use these markers in cross validation based discriminant analysis. Further investigation based on multiple analysis of variance (MANOVA) reveals how the attributes of each style marker group distinguish among the volumes.  相似文献   

4.
The design of the database is crucial to the process of designing almost any Information System (IS) and involves two clearly identifiable key concepts: schema and data model, the latter allowing us to define the former. Nevertheless, the term model is commonly applied indistinctly to both, the confusion arising from the fact that in Software Engineering (SE), unlike in formal or empirical sciences, the notion of model has a double meaning of which we are not always aware. If we take our idea of model directly from empirical sciences, then the schema of a database would actually be a model, whereas the data model would be a set of tools allowing us to define such a schema.The present paper discusses the meaning of model in the area of Software Engineering from a philosophical point of view, an important topic for the confusion arising directly affects other debates where model is a key concept. We would also suggest that the need for a philosophical discussion on the concept of data model is a further argument in favour of institutionalizing a new area of knowledge, which could be called: Philosophy of Engineering.  相似文献   

5.
Since Aristotle it is recognised that a valid syllogism cannot have two particular premises. However, that is not how a lay person sees it; at least as long as the premises read many, most etc, instead of a plain some. The lay people are right if one considers that these syllogisms do not have strict but approximate (Zadeh) validity. Typically there are only particular premises available in everyday life and one is dependent on such syllogisms. – Some rules on the usage of particular premises are given below.  相似文献   

6.
I discuss the attitude of Jewish law sources from the 2nd–:5th centuries to the imprecision of measurement. I review a problem that the Talmud refers to, somewhat obscurely, as impossible reduction. This problem arises when a legal rule specifies an object by referring to a maximized (or minimized) measurement function, e.g., when a rule applies to the largest part of a divided whole, or to the first incidence that occurs, etc. A problem that is often mentioned is whether there might be hypothetical situations involving more than one maximal (or minimal) value of the relevant measurement and, given such situations, what is the pertinent legal rule. Presumption of simultaneous occurrences or equally measured values are also a source of embarrassment to modern legal systems, in situations exemplified in the paper, where law determines a preference based on measured values. I contend that the Talmudic sources discussing the problem of impossible reduction were guided by primitive insights compatible with fuzzy logic presentation of the inevitable uncertainty involved in measurement. I maintain that fuzzy models of data are compatible with a positivistic epistemology, which refuses to assume any precision in the extra-conscious world that may not be captured by observation and measurement. I therefore propose this view as the preferred interpretation of the Talmudic notion of impossible reduction. Attributing a fuzzy world view to the Talmudic authorities is meant not only to increase our understanding of the Talmud but, in so doing, also to demonstrate that fuzzy notions are entrenched in our practical reasoning. If Talmudic sages did indeed conceive the results of measurements in terms of fuzzy numbers, then equality between the results of measurements had to be more complicated than crisp equations. The problem of impossible reduction could lie in fuzzy sets with an empty core or whose membership functions were only partly congruent. Reduction is impossible may thus be reconstructed as there is no core to the intersection of two measures. I describe Dirichlet maps for fuzzy measurements of distance as a rough partition of the universe, where for any region A there may be a non-empty set of - _A (upper approximation minus lower approximation), where the problem of impossible reduction applies. This model may easily be combined with probabilistic extention. The possibility of adopting practical decision standards based on -cuts (and therefore applying interval analysis to fuzzy equations) is discussed in this context. I propose to characterize the uncertainty that was presumably capped by the old sages as U-uncertainty, defined, for a non-empty fuzzy set A on the set of real numbers, whose -cuts are intervals of real numbers, as U(A) = 1/h(A) 0 h(A) log [1+(A)]d, where h(A) is the largest membership value obtained by any element of A and (A) is the measure of the -cut of A defined by the Lebesge integral of its characteristic function.  相似文献   

7.
Regions-of-Interest and Spatial Layout for Content-Based Image Retrieval   总被引:1,自引:0,他引:1  
To date most content-based image retrieval (CBIR) techniques rely on global attributes such as color or texture histograms which tend to ignore the spatial composition of the image. In this paper, we present an alternative image retrieval system based on the principle that it is the user who is most qualified to specify the query content and not the computer. With our system, the user can select multiple regions-of-interest and can specify the relevance of their spatial layout in the retrieval process. We also derive similarity bounds on histogram distances for pruning the database search. This experimental system was found to be superior to global indexing techniques as measured by statistical sampling of multiple users' satisfaction ratings.  相似文献   

8.
Personalization and adaptation techniques are an interesting opportunity to design new services on-board vehicles. In this context, in fact, the need of an individual user to receive the right service at the right time and in the right way is more critical than in other cases, where personalization and adaptation already showed interesting advantages. At the same time, this context of application can provide new interesting insights for user modeling and adaptation. In the paper we present an architecture for providing personalized services on-board vehicles and we discuss an application to the case of tourist information. We focus on the choices we made to design an on-board system which was as less intrusive and distracting as possible and that could adapt its recommendations, the way it presents them and its own behavior to the user's preferences/interests and to the context of interaction (especially the driving conditions).  相似文献   

9.
In many language processing tasks, most of the sentences generally convey rather simple meanings. Moreover, these tasks have a limited semantic domain that can be properly covered with a simple lexicon and a restricted syntax. Nevertheless, casual users are by no means expected to comply with any kind of formal syntactic restrictions due to the inherent spontaneous nature of human language. In this work, the use of error-correcting-based learning techniques is proposed to cope with the complex syntactic variability which is generally exhibited by natural language. In our approach, a complex task is modeled in terms of a basic finite state model, F, and a stochastic error model, E. F should account for the basic (syntactic) structures underlying this task, which would convey the meaning. E should account for general vocabulary variations, word disappearance, superfluous words, and so on. Each natural user sentence is thus considered as a corrupted version (according to E) of some simple sentence of L(F). Adequate bootstrapping procedures are presented that incrementally improve the structure of F while estimating the probabilities for the operations of E. These techniques have been applied to a practical task of moderately high syntactic variability, and the results which show the potential of the proposed approach are presented.  相似文献   

10.
In this paper, a novel neural network approach to real-time collision-free path planning of robot manipulators in a nonstationary environment is proposed, which is based on a biologically inspired neural network model for dynamic trajectory generation of a point mobile robot. The state space of the proposed neural network is the joint space of the robot manipulators, where the dynamics of each neuron is characterized by a shunting equation or an additive equation. The real-time robot path is planned through the varying neural activity landscape that represents the dynamic environment. The proposed model for robot path planning with safety consideration is capable of planning a real-time comfortable path without suffering from the too close nor too far problems. The model algorithm is computationally efficient. The computational complexity is linearly dependent on the neural network size. The effectiveness and efficiency are demonstrated through simulation studies.  相似文献   

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