Multi-Robot Task Allocation for Inspection Problems with Cooperative Tasks Using Hybrid Genetic Algorithms

In dieser Dissertation werden Methoden zur optimalen Aufgabenverteilung in Multirobotersystemen (engl. Multi-Robot Task Allocation – MRTA) zur Inspektion von Industrieanlagen untersucht. MRTA umfasst die Verteilung und Ablaufplanung von Aufgaben für eine Gruppe von Robotern unter Berücksichtigung von operativen Randbedingungen mit dem Ziel, die Gesamteinsatzkosten zu minimieren. Dank zunehmendem technischen Fortschritt und sinkenden Technologiekosten ist das Interesse an mobilen Robotern für den Industrieeinsatz in den letzten Jahren stark gestiegen. Viele Arbeiten konzentrieren sich auf Probleme der Mobilität wie Selbstlokalisierung und Kartierung, aber nur wenige Arbeiten untersuchen die optimale Aufgabenverteilung. Da sich mit einer guten Aufgabenverteilung eine effizientere Planung erreichen lässt (z. B. niedrigere Kosten, kürzere Ausführungszeit), ist das Ziel dieser Arbeit die Entwicklung von Lösungsmethoden für das aus Inspektionsaufgaben mit Einzel- und Zweiroboteraufgaben folgende Such-/Optimierungsproblem. Ein neuartiger hybrider Genetischer Algorithmus wird vorgestellt, der einen teilbevölkerungbasierten Genetischen Algorithmus zur globalen Optimierung mit lokalen Suchheuristiken kombiniert. Zur Beschleunigung dieses Algorithmus werden auf die fittesten Individuen einer Generation lokale Suchoperatoren angewendet. Der vorgestellte Algorithmus verteilt die Aufgaben nicht nur einfach und legt den Ablauf fest, sondern er bildet auch temporäre Roboterverbünde für Zweiroboteraufgaben, wodurch räumliche und zeitliche Randbedingungen entstehen. Vier alternative Kodierungsstrategien werden für den vorgestellten Algorithmus entworfen: Teilaufgabenbasierte Kodierung: Hierdurch werden alle möglichen Lösungen abgedeckt, allerdings ist der Suchraum sehr groß. Aufgabenbasierte Kodierung: Zwei Möglichkeiten zur Zuweisung von Zweiroboteraufgaben wurden implementiert, um die Effizienz des Algorithmus zu steigern. Gruppierungsbasierte Kodierung: Zeitliche Randbedingungen zur Gruppierung von Aufgaben werden vorgestellt, um gute Lösungen innerhalb einer kleinen Anzahl von Generationen zu erhalten. Zwei Umsetzungsvarianten werden vorgestellt. Dekompositionsbasierte Kodierung: Drei geometrische Zerlegungen wurden entworfen, die Informationen über die räumliche Anordnung ausnutzen, um Probleme zu lösen, die Inspektionsgebiete mit rechteckigen Geometrien aufweisen. In Simulationsstudien wird die Leistungsfähigkeit der verschiedenen hybriden Genetischen Algorithmen untersucht. Dazu wurde die Inspektion von Tanklagern einer Erdölraffinerie mit einer Gruppe homogener Inspektionsroboter als Anwendungsfall gewählt. Die Simulationen zeigen, dass Kodierungsstrategien, die auf der geometrischen Zerlegung basieren, bei einer kleinen Anzahl an Generationen eine bessere Lösung finden können als die anderen untersuchten Strategien. Diese Arbeit beschäftigt sich mit Einzel- und Zweiroboteraufgaben, die entweder von einem einzelnen mobilen Roboter erledigt werden können oder die Zusammenarbeit von zwei Robotern erfordern. Eine Erweiterung des entwickelten Algorithmus zur Behandlung von Aufgaben, die mehr als zwei Roboter erfordern, ist möglich, würde aber die Komplexität der Optimierungsaufgabe deutlich vergrößern.

Left preference for sport tasks does not necessarily indicate left-handedness

In the elite domain of interactive sports, athletes who demonstrate a left preference (e.g., holding a weapon with the left hand in fencing or boxing in a ‘southpaw’ stance) seem overrepresented. Such excess indicates a performance advantage and was also interpreted as evidence in favour of frequency-dependent selection mechanisms to explain the maintenance of left-handedness in humans. To test for an overrepresentation, the incidence of athletes’ lateral preferences is typically compared with an expected ratio of left- to right-handedness in the normal population. However, the normal population reference values did not always relate to the sport-specific tasks of interest, which may limit the validity of reports of an excess of ‘left-oriented’ athletes. Here we sought to determine lateral preferences for various sport-specific tasks (e.g., baseball batting, boxing) in the normal population and to examine the relationship between these preferences and handedness. To this end, we asked 903 participants to indicate their lateral preferences for sport-specific and common tasks using a paper-based questionnaire. Lateral preferences varied considerably across the different sport tasks and we found high variation in the relationship between those preferences and handedness. In contrast to unimanual tasks (e.g., fencing or throwing), for bimanually controlled actions such as baseball batting, shooting in ice hockey or boxing the incidence of left preferences was considerably higher than expected from the proportion of left-handedness in the normal population and the relationship with handedness was relatively low. We conclude that (i) task-specific reference values are mandatory for reliably testing for an excess of athletes with a left preference, (ii) the term ‘handedness’ should be more cautiously used within the context of sport-related laterality research and (iii) observation of lateral preferences in sports may be of limited suitability for the verification of evolutionary theories of handedness.

On Probabilistic Strategies for Robot Tasks

Robots must act purposefully and successfully in an uncertain world. Sensory information is inaccurate or noisy, actions may have a range of effects, and the robot's environment is only partially and imprecisely modeled. This thesis introduces active randomization by a robot, both in selecting actions to execute and in focusing on sensory information to interpret, as a basic tool for overcoming uncertainty. An example of randomization is given by the strategy of shaking a bin containing a part in order to orient the part in a desired stable state with some high probability. Another example consists of first using reliable sensory information to bring two parts close together, then relying on short random motions to actually mate the two parts, once the part motions lie below the available sensing resolution. Further examples include tapping parts that are tightly wedged, twirling gears before trying to mesh them, and vibrating parts to facilitate a mating operation.

Explorations of the Practical Issues of Learning Prediction-Control Tasks Using Temporal Difference Learning Methods

There has been recent interest in using temporal difference learning methods to attack problems of prediction and control. While these algorithms have been brought to bear on many problems, they remain poorly understood. It is the purpose of this thesis to further explore these algorithms, presenting a framework for viewing them and raising a number of practical issues and exploring those issues in the context of several case studies. This includes applying the TD(lambda) algorithm to: 1) learning to play tic-tac-toe from the outcome of self-play and of play against a perfectly-playing opponent and 2) learning simple one-dimensional segmentation tasks.

Teaching an Old Robot New Tricks: Learning Novel Tasks via Interaction with People and Things

As AI has begun to reach out beyond its symbolic, objectivist roots into the embodied, experientialist realm, many projects are exploring different aspects of creating machines which interact with and respond to the world as humans do. Techniques for visual processing, object recognition, emotional response, gesture production and recognition, etc., are necessary components of a complete humanoid robot. However, most projects invariably concentrate on developing a few of these individual components, neglecting the issue of how all of these pieces would eventually fit together. The focus of the work in this dissertation is on creating a framework into which such specific competencies can be embedded, in a way that they can interact with each other and build layers of new functionality. To be of any practical value, such a framework must satisfy the real-world constraints of functioning in real-time with noisy sensors and actuators. The humanoid robot Cog provides an unapologetically adequate platform from which to take on such a challenge. This work makes three contributions to embodied AI. First, it offers a general-purpose architecture for developing behavior-based systems distributed over networks of PC's. Second, it provides a motor-control system that simulates several biological features which impact the development of motor behavior. Third, it develops a framework for a system which enables a robot to learn new behaviors via interacting with itself and the outside world. A few basic functional modules are built into this framework, enough to demonstrate the robot learning some very simple behaviors taught by a human trainer. A primary motivation for this project is the notion that it is practically impossible to build an "intelligent" machine unless it is designed partly to build itself. This work is a proof-of-concept of such an approach to integrating multiple perceptual and motor systems into a complete learning agent.

Un análisis comparativo del papel del bucle fonológico versus la agenda visoespacial en el cálculo en niños de 7-8 años = A comparative analysis of the phonological loop versus the visuo-spatial sketchpad in mental arithmetic tasks in 7-8 y.o. children

En esta investigación se ha estudiado la relación entre dos subsistemas de la memoria de trabajo (bucle fonológico y agenda viso-espacial) y el rendimiento en cálculo con una muestra de 94 niños españoles de 7-8 años. Hemos administrado dos pruebas de cálculo diseñadas para este estudio y seis medidas simples de memoria de trabajo (de contenido verbal, numérico y espacial) de la «Batería de Tests de Memoria de Treball» de Pickering, Baqués y Gathercole (1999), y dos pruebas visuales complementarias. Los resultados muestran una correlación importante entre las medidas de contenido verbal y numérico y el rendimiento en cálculo. En cambio, no hemos encontrado ninguna relación con las medidas espaciales. Se concluye, por lo tanto, que en escolares españoles existe una relación importante entre el bucle fonológico y el rendimiento en tareas de cálculo. En cambio, el rol de la agenda viso-espacial es nulo

Neuroticism, intelligence, and intra-individual variability in elementary cognitive tasks : Testing the mental noise hypothesis. 'Neuroticismo, inteligencia y variabilidad intra-individual en tareas cognitivas elementales : contraste de la hip??tesis del ruido neuronal'

Resumen tomado de la publicaci??n

Computer-mediated communication and time pressure induce higher cardiovascular responses in the preparatory and execution phases of cooperative tasks

Resumen tomado de la publicaci??n

Sustaining Success Submitted Tasks Summary Links

link to the documents which describe each of the tasks, one of which students may choose to submit

FY2014-15 Tasks

READ the guidance notes, then attempt the tasks CONTENTS: Guidance notes - feedback from previous years Difference between reflection and essay Collection of suggested tasks

Evaluation of strategic knowledge of students through authentic tasks of writingin science classroom

The difficulties at evaluating strategic knowledge have been connected to the use of deconxetualized tests that, at the end, do not involve the use of this knowledge. For this reason, an interest in developing authentic writing tasks that offer advantages for these kinds of evaluation have arisen. Throughout this research, authentic writing tasks were developed in a natural sciences class, with the purpose of evaluating the students' strategic knowledge. Different instruments were used to collect data, e.g. Interviews, questionnaires, a self-inform, as well as three samples of writing by the students, with the objective of analyzing the changes that occurred between one and the others, as well as to determine the decisions that students made in order to complete the assigned tasks successfully. An authentic writing task gives great opportunities to evaluate strategic knowledge. These tasks lead students to arrange their knowledge about the topic in hand, organize and adapt it to fit the objectives and the audience, also, it allows them to control and adjust their decisions on the task. This last stage became the perfect opportunity to take notes on the knowledge and regulation of cognitive processes that the students brought into play, as well as to evaluating their understanding of writing and the demands given on the different discursive genres. As a result, the students showed different degrees of strategic knowledge in the task. The students who showed a better strategic knowledge trust in their structural abilities know about discursive genres and have a good performance in basic linguistic abilities. The students who showed weak strategic knowledge distrust their writing skills, seem extremely worried about organizing the content of their texts, fail when checking their writings, and overlook or are unaware of the basic requirements of the discursive genre they are asked to exemplify. It appears that the previous knowledge and experiences at writing the students have been exposed to may affect the strategic knowledge shown when writing in this subject. 

Brain injury: Assessment of hemineglect occurence and of attentional deficit through cancellation tasks

Hemineglect (HN) is a widely studied syndrome after unilateral lesions due to stroke. However, although there are some studies with HN rehabilitation of posttraumatic brain injury (TBI), there seems to be no published data about the prevalence of HN in TBI through cancellation tasks. Thus, the objective of this study was to characterize the occurrence of this syndrome and of attentional deficits in patients with TBI by means of the Bells Test and of a line cancellation task. The sample was comprised of 21 patients with TBI and 21 healthy controls matched by education, age and frequency of written language habits. There was a poorer performance of patients with TBI with a greater number of omissions on the left side and lower speed processing. In addition, suggestive signs of HN were found in 38 % of the sample of TBI patients. More research is needed to characterize clinical syndromes regarding the occurrence of HN after a TBI through the traditionally known cancellation paradigm.

The effects of orthographic neighborhood in reading and laboratory word identification tasks : a review. 'Los efectos de vecindad ortográfica en lectura y en tareas de reconocimiento de palabras : una revisión'.

Resumen tomado de la revista

Collins new primary maths. Investigations 1 : developing children's investigative and thinking skills in the daily maths lesson.

Para animar a los niños a practicar y consolidar la utilización y aplicación de las matemáticas. Las investigaciones desarrollan la capacidad para resolver problemas, otras habilidades y conceptos para que los niños puedan aplicar sus conocimientos matemáticos a otras áreas del currículo. Contiene aproximadamente sesenta investigaciones, cada una corresponde a un objetivo del currículo renovado que pueden ser integradas en la lección diaria de matemáticas. Ofrece orientación sobre la forma de evaluar el progreso del alumno. Viene con un CD-ROM de modo que el profesor pueda adaptar la investigaciones a las necesidades de su clase.

Collins new primary maths. Investigations 2 : developing children's investigative and thinking skills in the dayly maths lesson.

Para animar a los niños a practicar y consolidar la utilización y aplicación de las matemáticas. Las investigaciones desarrollan la capacidad para resolver problemas, otras habilidades y conceptos para que los niños puedan aplicar sus conocimientos matemáticos a otras áreas del currículo. Contiene aproximadamente sesenta investigaciones, cada una corresponde a un objetivo del currículo renovado que pueden ser integradas en la lección diaria de matemáticas. Ofrece orientación sobre la forma de evaluar el progreso del alumno. Viene con un CD-ROM de modo que el profesor pueda adaptar la investigaciones a las necesidades de su clase.