Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

Searching for consensus in ahp-group decision making. A bayesian perspective

This paper sets out to identify the initial positions of the different decision makers who intervene in a group decision making process with a reduced number of actors, and to establish possible consensus paths between these actors. As a methodological support, it employs one of the most widely-known multicriteria decision techniques, namely, the Analytic Hierarchy Process (AHP). Assuming that the judgements elicited by the decision makers follow the so-called multiplicative model (Crawford and Williams, 1985; Altuzarra et al., 1997; Laininen and Hämäläinen, 2003) with log-normal errors and unknown variance, a Bayesian approach is used in the estimation of the relative priorities of the alternatives being compared. These priorities, estimated by way of the median of the posterior distribution and normalised in a distributive manner (priorities add up to one), are a clear example of compositional data that will be used in the search for consensus between the actors involved in the resolution of the problem through the use of Multidimensional Scaling tools

Group preference structures in AHP–group decision making

This paper presents a procedure that allows us to determine the preference structures (PS) associated to each of the different groups of actors that can be identified in a group decision making problem with a large number of individuals. To that end, it makes use of the Analytic Hierarchy Process (AHP) (Saaty, 1980) as the technique to solve discrete multicriteria decision making problems. This technique permits the resolution of multicriteria, multienvironment and multiactor problems in which subjective aspects and uncertainty have been incorporated into the model, constructing ratio scales corresponding to the priorities relative to the elements being compared, normalised in a distributive manner (wi = 1). On the basis of the individuals’ priorities we identify different clusters for the decision makers and, for each of these, the associated preference structure using, to that end, tools analogous to those of Multidimensional Scaling. The resulting PS will be employed to extract knowledge for the subsequent negotiation processes and, should it be necessary, to determine the relative importance of the alternatives being compared using anyone of the existing procedures

Use of decision trees in colour feature selection: application to object recognition in outdoor scenes

A new method for the automated selection of colour features is described. The algorithm consists of two stages of processing. In the first, a complete set of colour features is calculated for every object of interest in an image. In the second stage, each object is mapped into several n-dimensional feature spaces in order to select the feature set with the smallest variables able to discriminate the remaining objects. The evaluation of the discrimination power for each concrete subset of features is performed by means of decision trees composed of linear discrimination functions. This method can provide valuable help in outdoor scene analysis where no colour space has been demonstrated as being the most suitable. Experiment results recognizing objects in outdoor scenes are reported

Training and pre-decisional bias in a multiattribute decision task. 'Formaci??n y sesgo pre-decisional en una tarea de decisi??n multiatributiva'

Resumen tomado de la publicaci??n

Regression-based techniques for statistical decision making in singlecase designs

Resumen tomado de la publicaci??n

Decision analysis exercises

Exercises and solutions in LaTex

Decision analysis exercises pdf

Exercises and solutions in PDF

Behind the decision making of the KFC coffee campaign, can KFC win the coffee market in UK?�

KFC, the chain fast-food restaurants in UK, planed to launched coffee products through campaigns. There are two main reasons for KFC to make the decision. The first one is KFC tried to promote its coffee products with KFC A.M. breakfast plan and it failed at last. The second reason is that KFC needs extension points of interest. The financial condition of KFC has been steady but no breakthrough growth. It has been showed that there is enormous potential of “fast-drink” market in UK. After the success of KFC “Krushems” series, it is reasonable for the company launched coffee products. However, KFC also faced to many challenges to win the market. Compare to the main competitor of McDonald’s, KFC’s quantity of restaurants is far too less. Moreover, KFC has a brand limitation that focuses more family than single urban. The dominant competitors are another challenge KFC need to manage. To sum up, KFC has to win these challenges to be a bigger player in UK coffee market.

System Design: UML Activity and Sequence Diagrams

In this session we look at how to model flow of control and interactions between components using UML Activity and Sequence Diagrams. This is an introductory session and so for Activity Diagrams we only cover branching, forks and joins and swim lanes, and for Sequence we cover lifelines, messages and returns, and alt, par and opt frames.

System Design: UML Class Diagrams

In this session we look at UML Class Diagrams and how they fit into both the family of UML models, and also the software engineering process. We look at some basic features of class diagrams including properties, operations, associations, generalisation, aggregation and composition.

Alps Workshop 3 p19 Steps in decision-making

Stepped Animation

Translation of the Decision of the International Court of Justice related to the Case concerning the dispute regarding navigational and related rights (Costa Rica v. Nicaragua) Judgment

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Decision making and planning of children in the reproductive process of males

Reproduction is not restricted to the biological; it is also a complex and dynamic social process. The objective of this paper is to analyze the decision and planning of children as part of the reproductive process in men. Methodologically, a qualitative research was made. The analysis includes in-depth interviews with 30 parents between 20 and 45 years, of medium socio-economic level in México. The results show that the reproductive process incorporates family formation negotiated with their couple the marriage until they had economic potential. In some cases, their decision hastened because the couple was pregnant. The planning was not contemplated but when getting the news, they accept it and get involved in the process, while others see it as a conflict.