Real-World Robotics: Learning to Plan for Robust Execution

In executing classical plans in the real world, small discrepancies between a planner's internal representations and the real world are unavoidable. These can conspire to cause real-world failures even though the planner is sound and, therefore, proves that a sequence of actions achieves the goal. Permissive planning, a machine learning extension to classical planning, is one response to this difficulty. This paper describes the permissive planning approach and presents GRASPER, a permissive planning robotic system that learns to robustly pick up novel objects.     

Locally Weighted Learning

This paper surveys locally weighted learning, a form of lazy learning and memory-based learning, and focuses on locally weighted linear regression. The survey discusses distance functions, smoothing parameters, weighting functions, local model structures, regularization of the estimates and bias, assessing predictions, handling noisy data and outliers, improving the quality of predictions by tuning fit parameters, interference between old and new data, implementing locally weighted learning efficiently, and applications of locally weighted learning. A companion paper surveys how locally weighted learning can be used in robot learning and control.     

旋转机械故障诊断的自学习方法研究

分析并介绍了旋转机械故障诊断的模糊数学与专家系统相结合的诊断方法，提出了一种实用的自学习策略，用这一诊断方法在实验室对一双跨转子进行了两种常见故障的学习及诊断。并将该学习模块装入现场一台５０ＭＷ汽轮发电机组的故障诊断专家系统中，经过多年运行，专家系统知识库得到不断完善。     

Successive pattern classification based on test feature classifier and its application to defect image classification

A novel successive learning algorithm based on a Test Feature Classifier is proposed for efficient handling of sequentially provided training data. The fundamental characteristics of the successive learning are considered. In the learning, after recognition of a set of unknown data by a classifier, they are fed into the classifier in order to obtain a modified performance. An efficient algorithm is proposed for the incremental definition of prime tests which are irreducible combinations of features and capable of classifying training patterns into correct classes. Four strategies for addition of training patterns are investigated with respect to their precision and performance using real pattern data. A real-world problem of classification of defects on wafer images has been dealt with by the proposed classifier, obtaining excellent performance even through efficient addition strategies.     

Post-Supervised Template Induction for Information Extraction from Lists and Tables in Dynamic Web Sources

Dynamic web sites commonly return information in the form of lists and tables. Although hand crafting an extraction program for a specific template is time-consuming but straightforward, it is desirable to automatically generate template extraction programs from examples of lists and tables in html documents. Supervised approaches have been shown to achieve high accuracy, but they require manual labelling of training examples, which is also time consuming. Fully unsupervised approaches, which extract rows and columns by detecting regularities in the data, cannot provide sufficient accuracy for practical domains. We describe a novel technique, Post-supervised Learning, which exploits unsupervised learning to avoid the need for training examples, while minimally involving the user to achieve high accuracy. We have developed unsupervised algorithms to extract the number of rows and adopted a dynamic programming algorithm for extracting columns. Our method achieves high performance with minimal user input compared to fully supervised techniques.     

Value management and common accounting performance measures for corporations

Management is aware that the value of firms is the ultimate measure of company performance. However, management has been using common accounting measures as an operating guide because the linkage between operational planning and value is vague and complex and, therefore, difficult to apply. Managers need to have clear targets and performance measures to track progress. This paper examines if a set of common accounting performance measures are linked tightly to the overall value of the firm. An abductive learning network (ALN) approach, an artificial intelligence technique, is used in this research because an ALN approach is non-parametric and can capture a subtle dynamic relationship between input and output variables, which is not obvious in linear statistical analysis. Empirical results show that an ALN model is very effective in synthesizing the value of the firm using six common accounting variables. The results also provide four strategic variables that can be used for devising strategic and operating plans to maximize the value of firms.     

提高网络教学效果的方法浅析

中国的网络远程教育目前也正处于蓬勃发展的阶段,各种远教机构如雨后春笋般涌现。但在远教课程向网络转型的过渡时期,难免会有各种不尽如人意的地方。设计不够贴近学生、缺乏师生互动和技术运用的片面与僵化等是很多网络课程常有的通病。如何在课程设计上进行改进,使网络课程更具人性化,真正实现以学生为中心,是中国网络教育更上一层楼的关键问题之一。     

Virtual teamwork in very large undergraduate classes

Collaborative work is an important part of tertiary education but it is very difficult to arrange and supervise for extremely large classes of students in their first year. The possibility that computer-mediated communication can be used to facilitate this type of learning is appealing from a pragmatic organisational point of view. This paper explains in detail what a ‘virtual team’ is in the educational context. It reports on an interpretive field study where students taking an introductory course were allowed to choose where and when they did the required collaborative work. The paper discusses the factors that should be taken into account when offering students the option of working as a virtual team. These include factors that influence the students’ choice. The project cannot be considered to have been successful but indicates reasons for the lack of success and suggests contexts in which it would be valuable to repeat the project. The importance of extensive preparation in terms of teaching the students necessary social and technological skills cannot be over emphasised.