Improving human robot collaboration through Force/Torque based learning for object manipulation

Human–Robot Collaboration (HRC) is a term used to describe tasks in which robots and humans work together to achieve a goal. Unlike traditional industrial robots, collaborative robots need to be adaptive; able to alter their approach to better suit the situation and the needs of the human partner. As traditional programming techniques can struggle with the complexity required, an emerging approach is to learn a skill by observing human demonstration and imitating the motions; commonly known as Learning from Demonstration (LfD). In this work, we present a LfD methodology that combines an ensemble machine learning algorithm (i.e. Random Forest (RF)) with stochastic regression, using haptic information captured from human demonstration. The capabilities of the proposed method are evaluated using two collaborative tasks; co-manipulation of an object (where the human provides the guidance but the robot handles the objects weight) and collaborative assembly of simple interlocking parts. The proposed method is shown to be capable of imitation learning; interpreting human actions and producing equivalent robot motion across a diverse range of initial and final conditions. After verifying that ensemble machine learning can be utilised for real robotics problems, we propose a further extension utilising Weighted Random Forest (WRF) that attaches weights to each tree based on its performance. It is then shown that the WRF approach outperforms RF in HRC tasks.     

避雷器接地电阻的测量与预测方法

介绍了避雷器三极法测量接地电阻的接线、测量原理及测量电压的选取,根据测得的历史数据建立了基于回归分析的接地电阻变化趋势预测模型,并通过标准离差检验证明了该预测模型可用于实际接地电阻的预测。实践表明,该测量与预测方法切实可行,能在一定程度上避免因接地电阻超标而引发的雷击事故。     

A hybrid stock selection model using genetic algorithms and support vector regression

In the areas of investment research and applications, feasible quantitative models include methodologies stemming from soft computing for prediction of financial time series, multi-objective optimization of investment return and risk reduction, as well as selection of investment instruments for portfolio management based on asset ranking using a variety of input variables and historical data, etc. Among all these, stock selection has long been identified as a challenging and important task. This line of research is highly contingent upon reliable stock ranking for successful portfolio construction. Recent advances in machine learning and data mining are leading to significant opportunities to solve these problems more effectively. In this study, we aim at developing a methodology for effective stock selection using support vector regression (SVR) as well as genetic algorithms (GAs). We first employ the SVR method to generate surrogates for actual stock returns that in turn serve to provide reliable rankings of stocks. Top-ranked stocks can thus be selected to form a portfolio. On top of this model, the GA is employed for the optimization of model parameters, and feature selection to acquire optimal subsets of input variables to the SVR model. We will show that the investment returns provided by our proposed methodology significantly outperform the benchmark. Based upon these promising results, we expect this hybrid GA-SVR methodology to advance the research in soft computing for finance and provide an effective solution to stock selection in practice.     

基于局部线性嵌入和支持向量机回归的TBM施工参数预测

依托吉林引松工程开展隧道掘进机（TBM）施工参数预测研究,提出TBM施工数据分段提取算法,提取上升段前30 s的总推进力、刀盘转速、推进速度、刀盘扭矩、刀盘转速电位器设定值、推进速度电位器设定值、贯入度、贯入度指数(FPI)、扭矩切深指数(TPI)9个参数作为输入;通过局部线性嵌入（LLE）完成对上升段数据特征的降维;基于支持向量机回归（SVR）建立TBM施工控制参数（推进速度、刀盘转速）和负载参数（总推进力、刀盘扭矩）预测模型. 分析是否结合前一掘进循环的FPI、TPI指数进行预测对预测效果的影响. 结果表明,上述方法在推进速度、刀盘转速、总推进力、刀盘扭矩的预测中均取得了较好的预测效果,平均预测绝对百分比误差均小于15%,验证了该预测方法的有效性,该方法可以为TBM现场施工提供指导.     

利用贝叶斯线性回归结合混合Copula函数分析风电功率的相关性

分析风电场之间的出力相关性有助于合理规划风机的功率输送以及调度优化,从而提高传输线路的利用率。以冀北地区风场为例,首先分析了该区域风速的分布特性,然后利用贝叶斯线性回归算法建立混合Copula函数模型,拟合得到4个机群风速序列的联合分布,计算出风电场之间的出力相关性,并与其他相关性函数建模进行对比研究。研究结果表明,基于贝叶斯线性回归的混合Copula函数模型能够提高参数估计的精确性,从而使得计算出的相关性更为准确,并且由其拟合得到的出力概率分布与实际风场出力的概率分布较为一致。     

EFFECT OF ALLOY ELEMENTS ON QUASIEQUILIBRIUM MICROSTRUCTURE IN Fe-Mn-Ni-Cr STEELS

The microstructures of Fe-Mn-Ni-Cr steels with medium carbon and the effect of alloy ele-ments on them have been investigated by means of X-ray diffraction quantitative phase ana-lyses,metallography and hardness tests.The volume fraction of martensite in steels quenchedat 1100℃ can be expressed as:f_M~(1100)=162.643-15.482Mn-7.36Ni-4.286(Cr+Mo+V)Based on this expression,the quasi-equilibrium microstructure diagram has been obtained.Itis shown that the effect of Mn on the austenite stability is greater than that of Ni.The equiva-lent [Ni]=2.104Mn+Ni and equivalent [Cr]=Cr+Mo+V.The driving force for martensite transformation at M_s point has been calculated to hedrastically decreased by element Mn.     

陶瓷隧道窑单耗统计数学模型的研究

本文依据陶瓷隧道窑热工测试数据和热平衡报告,采用多元回归和逐步回归统计理论,得到了陶瓷隧道窑单位重量热耗的多元回归数学模型和逐步回归数学模型。利用该数学模型可对单耗进行预测和控制。     

电导法测定水的全盐量

采用电导法研究了水溶液中盐的浓度与其电导率的关系，根据模拟水样和实际水样在电导率与全盐量的关系上有较好的吻合性，介绍了电导法测定水中全盐量的方法，结果表明在低浓度范围内电导率与盐浓度成线性关系，与传统的重量法相比，具有快速、简便、准确度高的特点。     

Automatic classification and prediction models for early Parkinson’s disease diagnosis from SPECT imaging

Early and accurate diagnosis of Parkinson’s disease (PD) is important for early management, proper prognostication and for initiating neuroprotective therapies once they become available. Recent neuroimaging techniques such as dopaminergic imaging using single photon emission computed tomography (SPECT) with ¹²³I-Ioflupane (DaTSCAN) have shown to detect even early stages of the disease. In this paper, we use the striatal binding ratio (SBR) values that are calculated from the ¹²³I-Ioflupane SPECT scans (as obtained from the Parkinson’s progression markers initiative (PPMI) database) for developing automatic classification and prediction/prognostic models for early PD. We used support vector machine (SVM) and logistic regression in the model building process. We observe that the SVM classifier with RBF kernel produced a high accuracy of more than 96% in classifying subjects into early PD and healthy normal; and the logistic model for estimating the risk of PD also produced high degree of fitting with statistical significance indicating its usefulness in PD risk estimation. Hence, we infer that such models have the potential to aid the clinicians in the PD diagnostic process.