Real-World Robotics: Learning to Plan for Robust Execution

In executing classical plans in the real world, small discrepancies between a planner's internal representations and the real world are unavoidable. These can conspire to cause real-world failures even though the planner is sound and, therefore, proves that a sequence of actions achieves the goal. Permissive planning, a machine learning extension to classical planning, is one response to this difficulty. This paper describes the permissive planning approach and presents GRASPER, a permissive planning robotic system that learns to robustly pick up novel objects.     

Locally Weighted Learning

This paper surveys locally weighted learning, a form of lazy learning and memory-based learning, and focuses on locally weighted linear regression. The survey discusses distance functions, smoothing parameters, weighting functions, local model structures, regularization of the estimates and bias, assessing predictions, handling noisy data and outliers, improving the quality of predictions by tuning fit parameters, interference between old and new data, implementing locally weighted learning efficiently, and applications of locally weighted learning. A companion paper surveys how locally weighted learning can be used in robot learning and control.     

综合应用地震属性、测井数据反演储层参数

本文研究了样点地震属性的特征提取，利用BP神经网络建立测井声波时差和地震属性的非线性映射关系。采用距离加权平均对研究区所有井的反演结果进行外推。为了提高分辨率和计算结果的准确性，详细分析、研究了适合于地震信号分解和重构的小波，以及测井声波时差和地震波阻抗与层界面的关系。最后，对反演的声波时差资料进行界面影响校正，进而计算出较符合实际情况的孔隙率参数。经已知井和新钻井验证，计算结果和实际情况相一致，效果令人满意。     

旋转机械故障诊断的自学习方法研究

分析并介绍了旋转机械故障诊断的模糊数学与专家系统相结合的诊断方法，提出了一种实用的自学习策略，用这一诊断方法在实验室对一双跨转子进行了两种常见故障的学习及诊断。并将该学习模块装入现场一台５０ＭＷ汽轮发电机组的故障诊断专家系统中，经过多年运行，专家系统知识库得到不断完善。     

Successive pattern classification based on test feature classifier and its application to defect image classification

A novel successive learning algorithm based on a Test Feature Classifier is proposed for efficient handling of sequentially provided training data. The fundamental characteristics of the successive learning are considered. In the learning, after recognition of a set of unknown data by a classifier, they are fed into the classifier in order to obtain a modified performance. An efficient algorithm is proposed for the incremental definition of prime tests which are irreducible combinations of features and capable of classifying training patterns into correct classes. Four strategies for addition of training patterns are investigated with respect to their precision and performance using real pattern data. A real-world problem of classification of defects on wafer images has been dealt with by the proposed classifier, obtaining excellent performance even through efficient addition strategies.     

Post-Supervised Template Induction for Information Extraction from Lists and Tables in Dynamic Web Sources

Dynamic web sites commonly return information in the form of lists and tables. Although hand crafting an extraction program for a specific template is time-consuming but straightforward, it is desirable to automatically generate template extraction programs from examples of lists and tables in html documents. Supervised approaches have been shown to achieve high accuracy, but they require manual labelling of training examples, which is also time consuming. Fully unsupervised approaches, which extract rows and columns by detecting regularities in the data, cannot provide sufficient accuracy for practical domains. We describe a novel technique, Post-supervised Learning, which exploits unsupervised learning to avoid the need for training examples, while minimally involving the user to achieve high accuracy. We have developed unsupervised algorithms to extract the number of rows and adopted a dynamic programming algorithm for extracting columns. Our method achieves high performance with minimal user input compared to fully supervised techniques.     

Direct preparation of particles from liquid suspension for ESEM or SEM analysis

A simplified method for the preparation of particles from liquid suspensions has been developed. Particles are deposited directly on carbon planchets for rapid analysis by environmental scanning electron microscopy or by conventional scanning electron microscopy after an additional drying step. This is accomplished by filtering the liquid through thin carbon planchets. Three different grades of graphite were investigated for their suitability as the source material for these planchets. The high quality isomolded graphite is recommended for the filtration and direct observation of particles by electron microscopy. This technique is demonstrated for particles in hydraulic fluid and aquatic suspended particulate material from a natural water source.     

Use of the Extreme Groups Approach: A Critical Reexamination and New Recommendations.

Analysis of continuous variables sometimes proceeds by selecting individuals on the basis of extreme scores of a sample distribution and submitting only those extreme scores to further analysis. This sampling method is known as the extreme groups approach (EGA). EGA is often used to achieve greater statistical power in subsequent hypothesis tests. However, there are several largely unrecognized costs associated with EGA that must be considered. The authors illustrate the effects EGA can have on power, standardized effect size, reliability, model specification, and the interpretability of results. Finally, the authors discuss alternative procedures, as well as possible legitimate uses of EGA. The authors urge researchers, editors, reviewers, and consumers to carefully assess the extent to which EGA is an appropriate tool in their own research and in that of others. (PsycINFO Database Record (c) 2010 APA, all rights reserved)