Reinforcement learning to adjust parametrized motor primitives to new situations

Humans manage to adapt learned movements very quickly to new situations by generalizing learned behaviors from similar situations. In contrast, robots currently often need to re-learn the complete movement. In this paper, we propose a method that learns to generalize parametrized motor plans by adapting a small set of global parameters, called meta-parameters. We employ reinforcement learning to learn the required meta-parameters to deal with the current situation, described by states. We introduce an appropriate reinforcement learning algorithm based on a kernelized version of the reward-weighted regression. To show its feasibility, we evaluate this algorithm on a toy example and compare it to several previous approaches. Subsequently, we apply the approach to three robot tasks, i.e., the generalization of throwing movements in darts, of hitting movements in table tennis, and of throwing balls where the tasks are learned on several different real physical robots, i.e., a Barrett WAM, a BioRob, the JST-ICORP/SARCOS CBi and a Kuka KR?6.     

Die Rolle der Kultur in der Selbstoffenbarung und Privatsph?re in sozialen Onlinenetzwerken

Social Network Sites (SNSs) rely exclusively on user-generated content to offer engaging and rewarding experience to its members. As a result, stimulating user communication and self-disclosure is vital for the sustainability of SNSs. However, considering that the SNS users are increasingly culturally diverse, motivating this audience to self-disclose requires understanding of their cultural intricacies. Yet existing research offers only limited insights into the role of culture behind the motivation of SNS users to self-disclose. Building on the privacy calculus framework, this study explores the role of two cultural dimensions ?C individualism and uncertainty avoidance ?C in self-disclosure decisions of SNS users. Survey responses of US and German Facebook members are used as the basis for our analysis. Structural equation modeling and multi-group analysis results reveal the distinct role of culture in the cognitive patterns of SNS users. The authors find that trusting beliefs play a key role in the self-disclosure decisions of users from individualistic cultures. At the same time, uncertainty avoidance determines the impact of privacy concerns. This paper contributes to the theory by rejecting the universal nature of privacy calculus processes. The findings provide for an array of managerial implications for SNS providers as they strive to encourage content creation and sharing by their heterogeneous members.     

Optical sensing of biomolecules using microring resonators

A biosensor application of vertically coupled glass microring resonators with Q/spl sim/12 000 is introduced. Using balanced photodetection, very high signal to noise ratios, and thus high sensitivity to refractive index changes (limit of detection of 1.8/spl times/10/sup -5/ refractive index units), are achieved. Ellipsometry and X-ray photoelectron spectroscopy results indicate successful modification of biosensor surfaces. Experimental data obtained separately for a bulk change of refractive index of the medium and for avidin-biotin binding on the ring surface are reported. Excellent repeatability and close-to-complete surface regeneration after binding are experimentally demonstrated.     

Development of a Robot‐Based Sheet Metal Forming Process

This paper describes a new sheet metal forming process for the production of sheet components for prototypes and small lot sizes. The generation of the shape is based on kinematics and is implemented by means of a new forming machine consisting of two industrial robots. Compared to conventional sheet metal forming machines, this newly developed forming process offers a high geometrical form flexibility, and comparatively small deformation forces enable high deformation degrees. The principle of the procedure is based on flexible shaping by means of a freely programmable path‐synchronous movement of the two robots. The final shape is produced by the incremental infeed of the forming tool in depth direction and its movement along the contour in lateral direction at each level of the depth direction. The supporting tool with its simple geometry is used to support the sheet metal and follows the forming tool at the rear side of the sheet metal. The sheet metal components manufactured in first attempts are of simple geometry like frustum and frustum of pyramids as well as spherical cups. Among other things the forming results are improved by an adjustment of the movement strategy, a variation of individual process parameters and geometric modifications of the tools. In addition to a measurement of the form deviations of the sheet with a Coordinate Measurement Machine, screened and deformed sheets are used for deformation analyses. Furthermore, the incremental forming process is analysed with assistance of the finite element method. In total the results show that a robot‐based sheet metal forming with kinematic shape generation is possible and leads to acceptable forming results. In order to be able to use the potential of this process, a goal‐oriented process design is as necessary as specific process knowledge. In order to achieve process stability and safety, the essential process parameters and the process boundaries have to be determined.     

Perceived Facial Expressions of Emotion as Motivational Incentives: Evidence From a Differential Implicit Learning Paradigm.

Participants (N = 216) were administered a differential implicit learning task during which they were trained and tested on 3 maximally distinct 2nd-order visuomotor sequences, with sequence color serving as discriminative stimulus. During training, 1 sequence each was followed by an emotional face, a neutral face, and no face, using backward masking. Emotion (joy, surprise, anger), face gender, and exposure duration (12 ms, 209 ms) were varied between participants; implicit motives were assessed with a picture-story exercise. For power-motivated individuals, low-dominance facial expressions enhanced and high-dominance expressions impaired learning. For affiliation-motivated individuals, learning was impaired in the context of hostile faces. These findings did not depend on explicit learning of fixed sequences or on awareness of sequence-face contingencies. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

High-efficiency photon-number detection for quantum information processing

The visible light photon counter (VLPC) features high quantum efficiency (QE) and low pulse height dispersion. These properties make it ideal for efficient photon-number state detection. The ability to perform efficient photon-number state detection is important in many quantum information processing applications, including recent proposals for performing quantum computation with linear optical elements. In this paper, we investigate the unique capabilities of the VLPC. The efficiency of the detector and cryogenic system is measured at 543 nm wavelengths to be 85%. A picosecond pulsed laser is then used to excite the detector with pulses having average photon numbers ranging from 3-5. The output of the VLPC is used to discriminate photon numbers in a pulse. The error probability for number state discrimination is an increasing function of the number of photons, due to buildup of multiplication noise. This puts an ultimate limit on the ability of the VLPC to do number state detection. For many applications, it is sufficient to discriminate between 1 and more than one detected photon. The VLPC can do this with 99% accuracy.     

Applying EuroWordNet to Cross-Language Text Retrieval

We discuss ways in which EuroWordNet (EWN) can be used in multilingual information retrieval activities, focusing on two approaches to Cross-Language Text Retrieval that use the EWN database as a large-scale multilingual semantic resource. The first approach indexes documents and queries in terms of the EuroWordNet Inter-Lingual-Index, thus turning term weighting and query/document matching into language-independent tasks. The second describes how the information in the EWN database could be integrated with a corpus-based technique, thus allowing retrieval of domain-specific terms that may not be present in our multilingual database. Our objective is to show the potential of EuroWordNet as a promising alternative to existing approaches to Cross-Language Text Retrieval.     

Integrating skills into multi-agent systems

Currently, an important topic of robotic research is the design and development of multi-agent robot systems (MASs). In these a number of autonomous robots cooperate and coordinate themselves in order to pursue given goals. The agents of an MAS not only have to work autonomously or in cooperation with other agents, but in dynamic, relatively unstructured environments. Therefore, the agents require agent-specific but flexible skills to cope with their tasks and the environment's variability. On the other hand, the actions to be performed by agents in an MAS have to meet certain requirements imposed by the MAS's structure. The representation of actions has to support planning, inter-agent communication, task negotiation etc. In this paper, we describe a method of combining the agent-specific nature of skills with the requirements for a general action knowledge representation inherent to MASs, by presenting elementary operations (EOs) that provide an appropriate interface.