A robot learning from demonstration framework to perform force-based manipulation tasks

This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one.     

Evaluation of messaging middleware for high-performance cloud computing

Cloud computing is posing several challenges, such as security, fault tolerance, access interface singularity, and network constraints, both in terms of latency and bandwidth. In this scenario, the performance of communications depends both on the network fabric and its efficient support in virtualized environments, which ultimately determines the overall system performance. To solve the current network constraints in cloud services, their providers are deploying high-speed networks, such as 10 Gigabit Ethernet. This paper presents an evaluation of high-performance computing message-passing middleware on a cloud computing infrastructure, Amazon EC2 cluster compute instances, equipped with 10 Gigabit Ethernet. The analysis of the experimental results, confronted with a similar testbed, has shown the significant impact that virtualized environments still have on communication performance, which demands more efficient communication middleware support to get over the current cloud network limitations.     

Using k-nn and discriminant analyses to classify rain forest types in a Landsat TM image over northern Costa Rica

Conservation and land use planning in humid tropical lowland forests urgently need accurate remote sensing techniques to distinguish among floristically different forest types. We investigated the degree to which floristically and structurally defined Costa Rican lowland rain forest types can be accurately discriminated by a non-parametric k nearest neighbors (k-nn) classifier or linear discriminant analysis. Pixel values of Landsat Thematic Mapper (TM) image and Shuttle Radar Topography Mission (SRTM) elevation model extracted from segments or from 5 × 5 pixel windows were employed in the classifications. 104 field plots were classified into three floristic and one structural type of forest (regrowth forest). Three floristically defined forest types were formed through clustering the old-growth forest plots (n = 52) by their species specific importance values. An error assessment of the image classification was conducted via cross-validation and error matrices, and overall percent accuracy and Kappa scores were used as measures of accuracy. Image classification of the four forest types did not adequately distinguish two old-growth forest classes, so they were merged into a single forest class. The resulting three forest classes were most accurately classified by the k-nn classifier using segmented image data (overall accuracy 91%). The second best method, with respect to accuracy, was the k-nn with 5 × 5 pixel windows data (89% accuracy), followed by the canonical discriminant analysis using the 5 × 5 pixel window data (86%) and the segment data (82%). We conclude the k-nn classifier can accurately distinguish floristically and structurally different rain forest types. The classification accuracies were higher for the k-nn classifier than for the canonical discriminant analysis, but the differences in Kappa scores were not statistically significant. The segmentation did not increase classification accuracy in this study.     

A Web services-based framework for building componentized digital libraries

We present a new Web services-based framework for building componentized digital libraries (DLs). We particularly demonstrate how traditional RDBMS technology can be easily deployed to support several common digital library services. Configuration and customization of the framework to build specialized systems is supported by a wizard-like tool which is based on a generic metamodel for DLs. Such a tool implements a workflow process that segments the DL design tasks into well-defined steps and drives the designer along these steps. Both the framework and the configuration tool are evaluated in terms of several performance and usability criteria. Our experimental evaluation demonstrates the feasibility and superior performance of our framework, as well as the effectiveness of the wizard tool for setting up DLs.     

GMAC: An overlay multicast network for mobile agent platforms

The lack of proper support for multicast services in the Internet has hindered the widespread use of applications that rely on group communication services such as mobile software agents. Although they do not require high bandwidth or heavy traffic, these types of applications need to cooperate in a scalable, fair and decentralized way. This paper presents GMAC, an overlay network that implements all multicast related functionality–including membership management and packet forwarding–in the end systems. GMAC introduces a new approach for providing multicast services for mobile agent platforms in a decentralized way, where group members cooperate in a fair way, minimize the protocol overhead, thus achieving great scalability. Simulations comparing GMAC with other approaches, in aspects such as end-to-end group propagation delay, group latency, group bandwidth, protocol overhead, resource utilization and failure recovery, show that GMAC is a scalable and robust solution to provide multicast services in a decentralized way to mobile software agent platforms with requirements similar to MoviLog.     

On Nirenberg-type conditions for higher-order systems on time scales

We study the existence of periodic solutions for a nonlinear system of nth-order differential equations on time scales. Assuming a suitable Nirenberg-type condition, we prove the existence of at least one solution of the problem using Mawhin’s coincidence degree.     

AC electrokinetic pumping on symmetric electrode arrays

AC electro-osmotic (ACEO) pumping is experimentally demonstrated on a symmetric gold electrode array. Using asymmetric connection of electrodes to the applied AC voltage, spatial asymmetry along the array is created, which produces unidirectional flow of electrolyte. An aqueous solution of 100 μM KCl is selected as the pumping fluid. The liquid velocity obtained as a function of voltage and frequency is compared to that generated using travelling-wave electroosmosis (TWEO) with the same electrode array. The expected velocities from the linear electrokinetic models of ACEO and TWEO are computed numerically. The comparison shows that TWEO generates greater velocity amplitudes and the streamlines are smoother than those generated by ACEO.     

Prediction of the percentages of cows'', goats'' and ewes'' milk in “Iberico” cheese by electrophoretic analysis of whey proteins

Stepwise multiple linear regression (SMLR) and principal components regression (PCR) have been used to predict the percentages of cows', goats' and ewes' milk in Iberico cheese, using the results obtained by electrophoretic analysis (PAGE and IEF) of whey proteins, using standard cheeses. Similar predictions of the percentages of milks from the three species were obtained when either SMLR or PCR were applied to the electrophoretic data, i.e. the optical intensity of the electrophoretic bands (PAGE or IEF) of the whey proteins. The root mean square error of prediction in cross-validation (RMSEPCV) was lower than 4% in all cases.