Autonomous underwater vehicle control using reinforcement learning policy search methods

Autonomous underwater vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of subsea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an autonomous robot. The system is characterized by the use of reinforcement learning direct policy search methods (RLDPS) for learning the internal state/action mapping of some behaviors. We demonstrate its feasibility with simulated experiments using the model of our underwater robot URIS in a target following task

Active citizenship

The aim of this activity is to allow students to explore the nature of political action, which can be thought of as a form of active as opposed to passive citizenship. By learning about and reflecting upon past instances of political action, or activism, students will be able to start thinking about what is likely to make a campaign successful. It is intended that these reflections can then be applied to their own actions as active citizens. It is hoped that the historical case studies combined with the information provided on different campaigning tools and methods will help to make students feel empowered and inspired to take action. In setting students the task of planning an action, it is expected that time management and organizational skills will be improved. It is believed that by putting themselves in the shoes of activists and going through the process of planning an action, they will have an engaged learning experience. The reflective element of the activity encourages students to form and defend opinions on the relative strengths and weaknesses of different campaigning methods, and on the acceptable limits to political action. This learning activity has been designed presuming no prior knowledge of activism or its methods, and has been successfully used with first year undergraduate students from a variety of disciplines. However, the activity provides a basis for more in-depth study of several issues, or alternatively study into further examples of campaign organizations. There are 3 different learning activities presented on this web site. For a dynamic and well-illustrated introduction to contemporary activism, see Jordan, T. (2002) Activism!: Direct Action, Hacktivism and the Future of Society, London: Reaktion Books Ltd. This material is also available via JORUM.

Teaching and learning geometry : issues and methods in mathematical education.

Recurso para la evaluación de la enseñanza y el aprendizaje de la geometría en la enseñanza secundaria desde la perspectiva de los nuevos docentes y de los que tienen más experiencia. Está diseñado para ampliar y profundizar el conocimiento de la materia y ofrecer consejos prácticos e ideas para el aula en el contexto de la práctica y la investigación actual. Hace especial hincapié en: comprender las ideas fundamentales del currículo de geometría; el aprendizaje de la geometría de manera efectiva; la investigación y la práctica actual; las ideas erróneas y los errores; el razonamiento de la geometría; la solución de problemas; el papel de la tecnología en el aprendizaje de la geometría.

Chambers adult learners' guide to spelling : practical methods for learning how to spell.

Guía de ortografía dirigida a adultos. Su objetivo es crearles confianza mediante el desarrollo de rutinas y estrategias para hacer frente a las palabras comúnmente mal escritas. No se trata de reglas de ortografía, sino de dividir las palabras y aprender a recordarlas de una manera diferente. Contiene una sección de código de color en un programa de cuatro semanas para mejorar las habilidades de escritura, ejemplos, actividades e ilustraciones para reforzar los conocimientos aprendidos. El autor es un especialista en dislexia.

Case based reasoning as an extension of fault dictionary methods for linear electronic analog circuits diagnosis

El test de circuits és una fase del procés de producció que cada vegada pren més importància quan es desenvolupa un nou producte. Les tècniques de test i diagnosi per a circuits digitals han estat desenvolupades i automatitzades amb èxit, mentre que aquest no és encara el cas dels circuits analògics. D'entre tots els mètodes proposats per diagnosticar circuits analògics els més utilitzats són els diccionaris de falles. En aquesta tesi se'n descriuen alguns, tot analitzant-ne els seus avantatges i inconvenients. Durant aquests últims anys, les tècniques d'Intel·ligència Artificial han esdevingut un dels camps de recerca més importants per a la diagnosi de falles. Aquesta tesi desenvolupa dues d'aquestes tècniques per tal de cobrir algunes de les mancances que presenten els diccionaris de falles. La primera proposta es basa en construir un sistema fuzzy com a eina per identificar. Els resultats obtinguts son força bons, ja que s'aconsegueix localitzar la falla en un elevat tant percent dels casos. Per altra banda, el percentatge d'encerts no és prou bo quan a més a més s'intenta esbrinar la desviació. Com que els diccionaris de falles es poden veure com una aproximació simplificada al Raonament Basat en Casos (CBR), la segona proposta fa una extensió dels diccionaris de falles cap a un sistema CBR. El propòsit no és donar una solució general del problema sinó contribuir amb una nova metodologia. Aquesta consisteix en millorar la diagnosis dels diccionaris de falles mitjançant l'addició i l'adaptació dels nous casos per tal d'esdevenir un sistema de Raonament Basat en Casos. Es descriu l'estructura de la base de casos així com les tasques d'extracció, de reutilització, de revisió i de retenció, fent èmfasi al procés d'aprenentatge. En el transcurs del text s'utilitzen diversos circuits per mostrar exemples dels mètodes de test descrits, però en particular el filtre biquadràtic és l'utilitzat per provar les metodologies plantejades, ja que és un dels benchmarks proposats en el context dels circuits analògics. Les falles considerades son paramètriques, permanents, independents i simples, encara que la metodologia pot ser fàcilment extrapolable per a la diagnosi de falles múltiples i catastròfiques. El mètode es centra en el test dels components passius, encara que també es podria extendre per a falles en els actius.

Active-control trials with binary data: a comparison of methods for testing superiority or non-inferiority using the odds ratio

This paper considers methods for testing for superiority or non-inferiority in active-control trials with binary data, when the relative treatment effect is expressed as an odds ratio. Three asymptotic tests for the log-odds ratio based on the unconditional binary likelihood are presented, namely the likelihood ratio, Wald and score tests. All three tests can be implemented straightforwardly in standard statistical software packages, as can the corresponding confidence intervals. Simulations indicate that the three alternatives are similar in terms of the Type I error, with values close to the nominal level. However, when the non-inferiority margin becomes large, the score test slightly exceeds the nominal level. In general, the highest power is obtained from the score test, although all three tests are similar and the observed differences in power are not of practical importance. Copyright (C) 2007 John Wiley & Sons, Ltd.

Learning in neural networks and stochastic approximation methods with averaging

The problem of adjusting the weights (learning) in multilayer feedforward neural networks (NN) is known to be of a high importance when utilizing NN techniques in various practical applications. The learning procedure is to be performed as fast as possible and in a simple computational fashion, the two requirements which are usually not satisfied practically by the methods developed so far. Moreover, the presence of random inaccuracies are usually not taken into account. In view of these three issues, an alternative stochastic approximation approach discussed in the paper, seems to be very promising.

Improved MATLAB GUIs for learning frequency response methods

The author developed two GUIs for asymptotic Bode plots and identification from such plots aimed at improving the learning of frequency response methods: these were presented at UKACC Control 2012. Student feedback and reflection by the author suggested various improvements to these GUIs, which have now been implemented. This paper reviews the earlier work, describes the improvements, and includes positive feedback from the students on the GUIs and how they have helped their understanding of the methods.

A case study approach to classroom experiential learning of problem structuring methods

The proposed research aims at consolidating two years of practical experience in developing a classroom experiential learning pedagogic approach for the problem structuring methods (PSMs) of operational research. The results will be prepared as papers to be submitted, respectively, to the Brazilian ISSS-sponsored system theory conference in São Paulo, and to JORS. These two papers follow the submission (in 2004) of one related paper to JORS which is about to be resubmitted following certain revisions. This first paper draws from the PSM and experiential learning literatures in order to introduce a basic foundation upon which a pedagogic framework for experiential learning of PSMs may be built. It forms, in other words, an integral part of my research in this area. By September, the area of pedagogic approaches to PSM learning will have received its first official attention - at the UK OR Society conference. My research and paper production during July-December, therefore, coincide with an important time in this area, enabling me to form part of the small cohort of published researchers creating the foundations upon which future pedagogic research will build. On the institutional level, such pioneering work also raises the national and international profile of FGVEAESP, making it a reference for future researchers in this area.

Comparison of two extraction methods for evaluation of volatile constituents patterns in commercial whiskeys: Elucidation of the main odour-active compounds

An analytical procedure based on manual dynamic headspace solid-phase microextraction (HS-SPME) method and the conventional extraction method by liquid–liquid extraction (LLE), were compared for their effectiveness in the extraction and quantification of volatile compounds from commercial whiskey samples. Seven extraction solvents covering a wide range of polarities and two SPME fibres coatings, has been evaluated. The highest amounts extracted, were achieved using dichloromethane (CH2Cl2) by LLE method (LLECH2Cl2)(LLECH2Cl2) and using a CAR/PDMS fibre (SPMECAR/PDMS) in HS-SPME. Each method was used to determine the responses of 25 analytes from whiskeys and calibration standards, in order to provide sensitivity comparisons between the two methods. Calibration curves were established in a synthetic whiskey and linear correlation coefficient (r ) were greater than 0.9929 for LLECH2Cl2LLECH2Cl2 and 0.9935 for SPMECAR/PDMS, for all target compounds. Recoveries greater than 80% were achieved. For most compounds, precision (expressed by relative standard deviation, R.S.D.) are very good, with R.S.D. values lower than 14.78% for HS-SPME method and than 19.42% for LLE method. The detection limits ranged from 0.13 to 19.03 μg L−1 for SPME procedure and from 0.50 to 12.48 μg L−1 for LLE. A tentative study to estimate the contribution of a specific compound to the aroma of a whiskey, on the basis of their odour activity values (OAV) was made. Ethyl octanoate followed by isoamyl acetate and isobutyl alcohol, were found the most potent odour-active compounds.

Image segmentation through combined methods: watershed transform, unsupervised distance learning and normalized cut

Research on image processing has shown that combining segmentation methods may lead to a solid approach to extract semantic information from different sort of images. Within this context, the Normalized Cut (NCut) is usually used as a final partitioning tool for graphs modeled in some chosen method. This work explores the Watershed Transform as a modeling tool, using different criteria of the hierarchical Watershed to convert an image into an adjacency graph. The Watershed is combined with an unsupervised distance learning step that redistributes the graph weights and redefines the Similarity matrix, before the final segmentation step using NCut. Adopting the Berkeley Segmentation Data Set and Benchmark as a background, our goal is to compare the results obtained for this method with previous work to validate its performance.

The Impact of Teaching Presence in Intensive Online Courses on Perceived Learning and Sense of Community: A Mixed Methods Study

This mixed methods concurrent triangulation design study was predicated upon two models that advocated a connection between teaching presence and perceived learning: the Community of Inquiry Model of Online Learning developed by Garrison, Anderson, and Archer (2000); and the Online Interaction Learning Model by Benbunan-Fich, Hiltz, and Harasim (2005). The objective was to learn how teaching presence impacted students’ perceptions of learning and sense of community in intensive online distance education courses developed and taught by instructors at a regional comprehensive university. In the quantitative phase online surveys collected relevant data from participating students (N = 397) and selected instructional faculty (N = 32) during the second week of a three-week Winter Term. Student information included: demographics such as age, gender, employment status, and distance from campus; perceptions of teaching presence; sense of community; perceived learning; course length; and course type. The students claimed having positive relationships between teaching presence, perceived learning, and sense of community. The instructors showed similar positive relationships with no significant differences when the student and instructor data were compared. The qualitative phase consisted of interviews with 12 instructors who had completed the online survey and replied to all of the open-response questions. The two phases were integrated using a matrix generation, and the analysis allowed for conclusions regarding teaching presence, perceived learning, and sense of community. The findings were equivocal with regard to satisfaction with course length and the relative importance of the teaching presence components. A model was provided depicting relationships between and among teaching presence components, perceived learning, and sense of community in intensive online courses.