Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

How to Use Cooperative Learning for Assessing Students’ Emotional Competences: A Practical Example at the Tertiary Level

Cooperative learning allows students acquisition of competences that are essential for the labour market such as leadership, critical thinking, communication, and so on. For this reason, different cooperative activities were designed in a language subject in English Studies so that students could work in groups and acquire those competences. This article describes some such activities and the emotional competences that students acquire with them. Moreover, a survey was conducted in order to establish students’ opinions about the main competences they acquired with the activities designed and their opinion about a cooperative methodology. Students’ answers were positive and they were aware of what they had learned.

Applied language learning.

No longer distributed to depository libraries in tangible format, .

Development of a co-operative distributed process mining system for quality assurance

In this paper, a co-operative distributed process mining system (CDPMS) is developed to streamline the workflow along the supply chain in order to offer shorter delivery times, more flexibility and higher customer satisfaction with learning ability. The proposed system is equipped with the ‘distributed process mining’ feature which is used to discover the hidden relationships among each working decision in distributed manner. This method incorporates the concept of data mining and knowledge refinement into decision making process for ensuring ‘doing the right things’ within the workflow. An example of implementation is given, based on the case of slider manufacturer.

Learning and change in interorganizational networks:the case for network learning and network change

The ALBA 2002 Call for Papers asks the question ‘How do organizational learning and knowledge management contribute to organizational innovation and change?’. Intuitively, we would argue, the answer should be relatively straightforward as links between learning and change, and knowledge management and innovation, have long been commonly assumed to exist. On the basis of this assumption, theories of learning tend to focus ‘within organizations’, and assume a transfer of learning from individual to organization which in turn leads to change. However, empirically, we find these links are more difficult to articulate. Organizations exist in complex embedded economic, political, social and institutional systems, hence organizational change (or innovation) may be influenced by learning in this wider context. Based on our research in this wider interorganizational setting, we first make the case for the notion of network learning that we then explore to develop our appreciation of change in interorganizational networks, and how it may be facilitated. The paper begins with a brief review of lite rature on learning in the organizational and interorganizational context which locates our stance on organizational learning versus the learning organization, and social, distributed versus technical, centred views of organizational learning and knowledge. Developing from the view that organizational learning is “a normal, if problematic, process in every organization” (Easterby-Smith, 1997: 1109), we introduce the notion of network learning: learning by a group of organizations as a group. We argue this is also a normal, if problematic, process in organizational relationships (as distinct from interorganizational learning), which has particular implications for network change. Part two of the paper develops our analysis, drawing on empirical data from two studies of learning. The first study addresses the issue of learning to collaborate between industrial customers and suppliers, leading to the case for network learning. The second, larger scale study goes on to develop this theme, examining learning around several major change issues in a healthcare service provider network. The learning processes and outcomes around the introduction of a particularly controversial and expensive technology are described, providing a rich and contrasting case with the first study. In part three, we then discuss the implications of this work for change, and for facilitating change. Conclusions from the first study identify potential interventions designed to facilitate individual and organizational learning within the customer organization to develop individual and organizational ‘capacity to collaborate’. Translated to the network example, we observe that network change entails learning at all levels – network, organization, group and individual. However, presenting findings in terms of interventions is less meaningful in an interorganizational network setting given: the differences in authority structures; the less formalised nature of the network setting; and the importance of evaluating performance at the network rather than organizational level. Academics challenge both the idea of managing change and of managing networks. Nevertheless practitioners are faced with the issue of understanding and in fluencing change in the network setting. Thus we conclude that a network learning perspective is an important development in our understanding of organizational learning, capability and change, locating this in the wider context in which organizations are embedded. This in turn helps to develop our appreciation of facilitating change in interorganizational networks, both in terms of change issues (such as introducing a new technology), and change orientation and capability.

Development of Database for Distributed Information Measurement and Control System

The purpose of this work is the development of database of the distributed information measurement and control system that implements methods of optical spectroscopy for plasma physics research and atomic collisions and provides remote access to information and hardware resources within the Intranet/Internet networks. The database is based on database management system Oracle9i. Client software was realized in Java language. The software was developed using Model View Controller architecture, which separates application data from graphical presentation components and input processing logic. The following graphical presentations were implemented: measurement of radiation spectra of beam and plasma objects, excitation function for non-elastic collisions of heavy particles and analysis of data acquired in preceding experiments. The graphical clients have the following functionality of the interaction with the database: browsing information on experiments of a certain type, searching for data with various criteria, and inserting the information about preceding experiments.

Implementation of Distant Learning Portals based on CASE-technology METAS

The paper describes an approach to the development of software aimed at the creation of distant learning portals integrated with education support and educational institution management systems. The software being developed is based on CASE-technology METAS which is used for the creation of adaptive distributed information systems. This technology allows to dynamically adjust the portal’s structure and portal’s functionality enhancements.

Data Protection and Packet Mode in the Distributed Information Measurement and Control System for Research in Physics

The present paper is devoted to creation of cryptographic data security and realization of the packet mode in the distributed information measurement and control system that implements methods of optical spectroscopy for plasma physics research and atomic collisions. This system gives a remote access to information and instrument resources within the Intranet/Internet networks. The system provides remote access to information and hardware resources for the natural sciences within the Intranet/Internet networks. The access to physical equipment is realized through the standard interface servers (PXI, CАМАC, and GPIB), the server providing access to Ethernet devices, and the communication server, which integrates the equipment servers into a uniform information system. The system is used to make research task in optical spectroscopy, as well as to support the process of education at the Department of Physics and Engineering of Petrozavodsk State University.

Improving distributed representation of word sense via WordNet Gloss composition and context clustering

In recent years, there has been an increas-ing interest in learning a distributed rep-resentation of word sense. Traditional context clustering based models usually require careful tuning of model parame-ters, and typically perform worse on infre-quent word senses. This paper presents a novel approach which addresses these lim-itations by first initializing the word sense embeddings through learning sentence-level embeddings from WordNet glosses using a convolutional neural networks. The initialized word sense embeddings are used by a context clustering based model to generate the distributed representations of word senses. Our learned represen-tations outperform the publicly available embeddings on 2 out of 4 metrics in the word similarity task, and 6 out of 13 sub tasks in the analogical reasoning task.

Static, dynamic, and adaptive heterogeneity in distributed smart camera networks

We study heterogeneity among nodes in self-organizing smart camera networks, which use strategies based on social and economic knowledge to target communication activity efficiently. We compare homogeneous configurations, when cameras use the same strategy, with heterogeneous configurations, when cameras use different strategies. Our first contribution is to establish that static heterogeneity leads to new outcomes that are more efficient than those possible with homogeneity. Next, two forms of dynamic heterogeneity are investigated: nonadaptive mixed strategies and adaptive strategies, which learn online. Our second contribution is to show that mixed strategies offer Pareto efficiency consistently comparable with the most efficient static heterogeneous configurations. Since the particular configuration required for high Pareto efficiency in a scenario will not be known in advance, our third contribution is to show how decentralized online learning can lead to more efficient outcomes than the homogeneous case. In some cases, outcomes from online learning were more efficient than all other evaluated configuration types. Our fourth contribution is to show that online learning typically leads to outcomes more evenly spread over the objective space. Our results provide insight into the relationship between static, dynamic, and adaptive heterogeneity, suggesting that all have a key role in achieving efficient self-organization.

A Bayesian Model for Learning Using Flashcards

Report published in the Proceedings of the National Conference on "Education and Research in the Information Society", Plovdiv, May, 2015

A gloss composition and context clustering based distributed word sense representation model

In recent years, there has been an increasing interest in learning a distributed representation of word sense. Traditional context clustering based models usually require careful tuning of model parameters, and typically perform worse on infrequent word senses. This paper presents a novel approach which addresses these limitations by first initializing the word sense embeddings through learning sentence-level embeddings from WordNet glosses using a convolutional neural networks. The initialized word sense embeddings are used by a context clustering based model to generate the distributed representations of word senses. Our learned representations outperform the publicly available embeddings on half of the metrics in the word similarity task, 6 out of 13 sub tasks in the analogical reasoning task, and gives the best overall accuracy in the word sense effect classification task, which shows the effectiveness of our proposed distributed distribution learning model.

DIMUSE: An integrated framework for distributed multimedia system with database management and security support

With the recent explosion in the complexity and amount of digital multimedia data, there has been a huge impact on the operations of various organizations in distinct areas, such as government services, education, medical care, business, entertainment, etc. To satisfy the growing demand of multimedia data management systems, an integrated framework called DIMUSE is proposed and deployed for distributed multimedia applications to offer a full scope of multimedia related tools and provide appealing experiences for the users. This research mainly focuses on video database modeling and retrieval by addressing a set of core challenges. First, a comprehensive multimedia database modeling mechanism called Hierarchical Markov Model Mediator (HMMM) is proposed to model high dimensional media data including video objects, low-level visual/audio features, as well as historical access patterns and frequencies. The associated retrieval and ranking algorithms are designed to support not only the general queries, but also the complicated temporal event pattern queries. Second, system training and learning methodologies are incorporated such that user interests are mined efficiently to improve the retrieval performance. Third, video clustering techniques are proposed to continuously increase the searching speed and accuracy by architecting a more efficient multimedia database structure. A distributed video management and retrieval system is designed and implemented to demonstrate the overall performance. The proposed approach is further customized for a mobile-based video retrieval system to solve the perception subjectivity issue by considering individual user's profile. Moreover, to deal with security and privacy issues and concerns in distributed multimedia applications, DIMUSE also incorporates a practical framework called SMARXO, which supports multilevel multimedia security control. SMARXO efficiently combines role-based access control (RBAC), XML and object-relational database management system (ORDBMS) to achieve the target of proficient security control. A distributed multimedia management system named DMMManager (Distributed MultiMedia Manager) is developed with the proposed framework DEMUR; to support multimedia capturing, analysis, retrieval, authoring and presentation in one single framework.

Noradrenergic modulatoins of odor learning and odor representation in the rat

How experience alters neuronal ensemble dynamics and how locus coeruleus-mediated norepinephrine release facilitates memory formation in the brain are the topics of this thesis. Here we employed a visualization technique, cellular compartment analysis of temporal activity by fluorescence in situ hybridization (catFISH), to assess activation patterns of neuronal ensembles in the olfactory bulb (OB) and anterior piriform cortex (aPC) to repeated odor inputs. Two associative learning models were used, early odor preference learning in rat pups and adult rat go-no-go odor discrimination learning. With catFISH of an immediate early gene, Arc, we showed that odor representation in the OB and aPC was sparse (~5-10%) and widely distributed. Odor associative learning enhanced the stability of the rewarded odor representation in the OB and aPC. The stable component, indexed by the overlap between the two ensembles activated by the rewarded odor at two time points, increased from ~25% to ~50% (p = 0.004-1.43E⁻4; Chapter 3 and 4). Adult odor discrimination learning promoted pattern separation between rewarded and unrewarded odor representations in the aPC. The overlap between rewarded and unrewarded odor representations reduced from ~25% to ~14% (p = 2.28E⁻⁵). However, learning an odor mixture as a rewarded odor increased the overlap of the component odor representations in the aPC from ~23% to ~44% (p = 0.010; Chapter 4). Blocking both α- and β-adrenoreceptors in the aPC prevented highly similar odor discrimination learning in adult rats, and reduced OB mitral and granule ensemble stability to the rewarded odor. Similar treatment in the OB only slowed odor discrimination learning. However, OB adrenoceptor blockade disrupted pattern separation and ensemble stability in the aPC when the rats demonstrated deficiency in discrimination (Chapter 5). In another project, the role of α₂-adrenoreceptors in the OB during early odor preference learning was studied. OB α2-adrenoceptor activation was necessary for odor learning in rat pups. α₂-adrenoceptor activation was additive with β-adrenoceptor mediated signalling to promote learning (Chapter 2). Together, these experiments suggest that odor representations are highly adaptive at the early stages of odor processing. The OB and aPC work in concert to support odor learning and top-down adrenergic input exerts a powerful modulation on both learning and odor representation.

New Advancements of Scalable Statistical Methods for Learning Latent Structures in Big Data

Constant technology advances have caused data explosion in recent years. Accord- ingly modern statistical and machine learning methods must be adapted to deal with complex and heterogeneous data types. This phenomenon is particularly true for an- alyzing biological data. For example DNA sequence data can be viewed as categorical variables with each nucleotide taking four different categories. The gene expression data, depending on the quantitative technology, could be continuous numbers or counts. With the advancement of high-throughput technology, the abundance of such data becomes unprecedentedly rich. Therefore efficient statistical approaches are crucial in this big data era.

Previous statistical methods for big data often aim to find low dimensional struc- tures in the observed data. For example in a factor analysis model a latent Gaussian distributed multivariate vector is assumed. With this assumption a factor model produces a low rank estimation of the covariance of the observed variables. Another example is the latent Dirichlet allocation model for documents. The mixture pro- portions of topics, represented by a Dirichlet distributed variable, is assumed. This dissertation proposes several novel extensions to the previous statistical methods that are developed to address challenges in big data. Those novel methods are applied in multiple real world applications including construction of condition specific gene co-expression networks, estimating shared topics among newsgroups, analysis of pro- moter sequences, analysis of political-economics risk data and estimating population structure from genotype data.