Hybrid coordination of reinforcement learning-based behaviors for AUV control

This paper proposes a hybrid coordination method for behavior-based control architectures. The hybrid method takes advantages of the robustness and modularity in competitive approaches as well as optimized trajectories in cooperative ones. This paper shows the feasibility of applying this hybrid method with a 3D-navigation to an autonomous underwater vehicle (AUV). The behaviors are learnt online by means of reinforcement learning. A continuous Q-learning implemented with a feed-forward neural network is employed. Realistic simulations were carried out. The results obtained show the good performance of the hybrid method on behavior coordination as well as the convergence of the behaviors

A behavior-based scheme using reinforcement learning for autonomous underwater vehicles

This paper presents a hybrid behavior-based scheme using reinforcement learning for high-level control of autonomous underwater vehicles (AUVs). Two main features of the presented approach are hybrid behavior coordination and semi on-line neural-Q_learning (SONQL). Hybrid behavior coordination takes advantages of robustness and modularity in the competitive approach as well as efficient trajectories in the cooperative approach. SONQL, a new continuous approach of the Q_learning algorithm with a multilayer neural network is used to learn behavior state/action mapping online. Experimental results show the feasibility of the presented approach for AUVs

Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

This paper proposes a field application of a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. The learning system is characterized by using a direct policy search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed up the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEU AUV

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

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

La influencia de la política de adquisición de material bélico de la administración Chávez Frías en la agenda bilateral Venezuela- Estados Unidos

El propósito de esta monografía es explicar de qué manera la adquisición de material bélico de la administración Chávez desde el año 2004 al 2008, influyen en la relación bilateral Venezuela-Estados Unidos.

Abilies. Avil??s. Elaboraci??n Material Multimedia

El proyecto se plantea para elaborar un itinerario educativo partiendo de una idea fundamental, conocer Asturias, partiendo de conocer el medio m??s pr??ximo a ellos, en este caso Avil??s. Como complemento al material escrito, se va a elaborar un v??deo, diapositivas y transparencias que sirvan par realizar actividades en el aula sin olvidar las visitas que los alumnos hagan a los sitios m??s representativos. Se presenta una memoria con diapositivas, un v??deo did??ctico y un master para realizar otras copias originales. Los contenidos del proyecto son: introducci??n al estudio de Avil??s desde el Monte de la Luz; localizaci??n y concejos lim??trofes; estudio de la estructura de la villa; la ria de Avil??s; estudio de la econom??a; el Monte de la Luz; instalaciones como Ensidesa; monumentos; escudo de Avil??s; posibilidades de ocio en Avil??s.. En la memoria el recorrido se hace a trav??s de la historia, desde la Prehistoria hasta la actualidad. Los autores son profesores de centros adscritos al CEP de Avil??s.

La cer??mica negra de Llamas del Mouro. Elaboraci??n material curricular ' Llamas Mouro'

Se intenta difundir en todos los Centros del CEP un diaporama con sonido y una colecci??n de diapositivas sobre la cer??mica negra de Llamas de Mouro, por ser una de las principales muestras artesanles de la cultura asturiana, con el fin de permitir al alumno una mayor y mejor conocimiento de su realidad inmediata. No se cumplieron todos los objetivos por escaso presupuesto pues no se pudo difundir todo lo que se quer??a. Seg??n los autores, el texto es ajustado y claro y las cuarenta diapositivas conforme al mismo, el texto est?? registrado en el casete con fondo musical. La evaluaci??n es positiva y como conclusi??n lamentan que otros trabajos como este es vean afectados por la falta de presupuesto.

L'ús del material alternatiu en l'aprenentatge del handbol. 'El uso del material alternativo en el aprendizaje del balonmano'.

Resumen tomado de la revista

Presentación del material multimedia 'Pim Pam, exercicis de polirítmia'.

Resumen tomado del autor. Incluye imágenes y material anexo

Multimedia e interactividad en el material docente de soporte y su aplicación a los estudios de comunicación.

Resumen tomado del autor

La innovación permanente en la UNED : del material impreso a la tecnología UMTS.

Resumen tomado del autor

Creació de material multimèdia a l'àrea de ciències socials per a l'educació d'adults a partir d'una investigació sobre els fonaments de l'aprenentatge en aquesta edat. 'Creación de material multimedia en el área de ciencias sociales para la educación de adultos a partir de una investigación sobre los fundamentos del aprendizaje en esta edad'.

Resumen tomado parcialmente del autor

How to use the e-Reseach Methods material

Instructions for using the web site and the source material.