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Geometric Exploration for Online Control [article]

Orestis Plevrakis, Elad Hazan
2020 arXiv   pre-print
The main component of our algorithm is a novel geometric exploration strategy: we adaptively construct a sequence of barycentric spanners in the policy space.  ...  control input.  ...  Algorithm 2: Geometric Exploration for Control Input: estimates A 0 , B 0 satisfying (A 0 B 0 ) − (A * B * ) F ≤ ǫ.  ... 
arXiv:2010.13178v2 fatcat:cv3sfxnqjrfgdicn25k6bsyjzm

topoSNP: a topographic database of non-synonymous single nucleotide polymorphisms with and without known disease association

N. O. Stitziel
2004 Nucleic Acids Research  
The database of topographic mapping of Single Nucleotide Polymorphism (topoSNP) provides an online resource for analyzing non-synonymous SNPs (nsSNPs) that can be mapped onto known three-dimensional structures  ...  These include disease associated nsSNPs derived from the Online Mendelian Inheritance in Man (OMIM) database and other nsSNPs derived from dbSNP, a resource at the National Center for Biotechnology Information  ...  Discussion We present here a resource for accessing both geometric location information and conservation information from a study of disease-associated nsSNPs and control nsSNPs.  ... 
doi:10.1093/nar/gkh104 pmid:14681472 pmcid:PMC308838 fatcat:nwkqi7ouavantc6kkta4edkwwu

Externally-facilitated regulation scaffolding and role assignment to develop cognitive presence in asynchronous online discussions

Dragan Gašević, Olusola Adesope, Srećko Joksimović, Vitomir Kovanović
2015 The Internet and higher education  
Externally-facilitated regulation scaffolding and role assignment to develop cognitive presence in asynchronous online discussions Citation for published version: Gasevic, D, Adesope, O, Joksimovi, S &  ...  We conducted a quasi-experimental study in a fully-online course (N=82) using six offerings of the course.  ...  for participation in online discussions.  ... 
doi:10.1016/j.iheduc.2014.09.006 fatcat:x6vjw2u4lvh3zdd4bvacsyz4l4

Guest Editorial Special Issue on the 2018 Workshop on the Algorithmic Foundations of Robotics (WAFR)

Lydia Tapia, Marco Morales, Seth Hutchinson, Gildardo Sanchez-Ante
2021 IEEE Transactions on Automation Science and Engineering  
The final article in this Special Issue provides a novel framework for designing controllers for complex robotic systems that leverages ideas from geometric mechanics.  ...  "RMPflow: A geometric framework for generation of multi-task motion policies," by Cheng et al., provides both a clear introduction to geometric control approaches and practical insights to appropriately  ... 
doi:10.1109/tase.2021.3076247 fatcat:xzrl7oovbnad7pssyazkgkrnuu

Differentiable Preisach Modeling for Characterization and Optimization of Accelerator Systems with Hysteresis [article]

R. Roussel, A. Edelen, D. Ratner, K. Dubey, J.P. Gonzalez-Aguilera, Y.K. Kim, N. Kuklev
2022 arXiv   pre-print
Hysteresis effects in magnetic, mechanical, and material components of accelerators are often neglected in online accelerator models used to inform control algorithms, even though reproducibility errors  ...  Furthermore, we explore how using these joint hysteresis-beam models allows us to overcome optimization performance limitations when hysteresis effects are ignored.  ...  ACKNOWLEDGMENTS The authors would like to thank the SLAC Metrology group for their help gathering quadrupole data and Louis Emery from the Advanced Photon Source for early discussions and preliminary data  ... 
arXiv:2202.07747v1 fatcat:kbf2xxgfurhxxc6fm3zwgv7a2q

Grasp affordances from multi-fingered tactile exploration using dynamic potential fields

Alexander Bierbaum, Matthias Rambow, Tamim Asfour, Rudiger Dillmann
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
We present extensions on our tactile exploration strategy for unknown objects based on a dynamic potential field approach resulting in selective exploration in regions of interest.  ...  In this paper, we address the problem of tactile exploration and subsequent extraction of grasp hypotheses for unknown objects with a multi-fingered anthropomorphic robot hand.  ...  The function values are computed using estimation of local surface parameters from haptic feedback, thus resulting in an online control scheme.  ... 
doi:10.1109/ichr.2009.5379581 dblp:conf/humanoids/BierbaumR09 fatcat:632u37uy2bdtnjatp7pt5oyzb4

Online Systems for Training the Evaluation of Deviations of Geometrical Characteristics

Maria Teresa Restivo, José Rodrigues, Maria Fátima Chouzal, Paulo Menezes, José Almacinha
2013 International Journal of Online Engineering (iJOE)  
These systems intend to enable the users to explore the related concepts for training or educational purposes in a more immersive way.  ...  for compliance with the design objective.  ...  For fifteen minutes they were allowed to explore the AR tool.  ... 
doi:10.3991/ijoe.v9is8.3355 fatcat:k4rglw73urazvavwyzd7k3am6e

FLYBO: A Unified Benchmark Environment for Autonomous Flying Robots

Anthony Brunel, Amine Bourki, Olivier Strauss, Cedric Demonceaux
2021 2021 International Conference on 3D Vision (3DV)  
FLYBO provides datasets, references and a framework to benchmark such systems w.r.t their volumetric exploration and online surface reconstruction capabilities.  ...  and planning trajectories online (b-d).  ...  CAD-derived data in particular are a goldstandard w.r.t these criteria and are favored when available as a benchmarking reference in a controlled, simulatedenvironment for autonomous exploration [8, 19  ... 
doi:10.1109/3dv53792.2021.00149 fatcat:zyuo4zp3vndq5etzahnkb5n454

Combining space exploration and heuristic search in online motion planning for nonholonomic vehicles

Chao Chen, Markus Rickert, Alois Knoll
2013 2013 IEEE Intelligent Vehicles Symposium (IV)  
The space exploration employs simple geometric shapes to investigate the collision-free space for the dimension and topology information.  ...  This paper presents an efficient motion planning method for nonholonomic vehicles, which combines space exploration and heuristic search to achieve online performance.  ...  However, the kinodynamic constraints make a carlike robot only locally controllable, with the consequence that a geometric path does not guarantee an applicable trajectory.  ... 
doi:10.1109/ivs.2013.6629647 dblp:conf/ivs/ChenRK13 fatcat:eprj44vj3faolggp2p2lo7sbae

Learning Inverse Statics Models Efficiently With Symmetry-Based Exploration

Rania Rayyes, Daniel Kubus, Jochen Steil
2018 Frontiers in Neurorobotics  
First, we modify the Direction Sampling approach for learning inverse statics models online, in a plain exploratory fashion, from scratch and without using a closed-loop controller.  ...  Moreover, we demonstrate that exploiting symmetries for learning inverse statics models is a generally applicable strategy for online and offline learning algorithms.  ...  Hartmann for helping in symmetry discovery implementation.  ... 
doi:10.3389/fnbot.2018.00068 pmid:30405387 pmcid:PMC6206748 fatcat:xr3gna24dbf3hfhehavrubrt7y

Port-Hamiltonian Systems Theory: An Introductory Overview

Arjan van der Schaft, Dimitri Jeltsema
2014 Foundations and Trends® in Systems and Control  
ISSN online version 2325-6826. Also available as a combined paper and online subscription.  ...  The appropriate geometric object appears to be the notion of a Dirac structure, which was explored before in Weinstein (1983) ; Courant (1990) ; Dorfman (1993) as a geometric object generalizing at the  ... 
doi:10.1561/2600000002 fatcat:6enigztepbb7fde7eafptkoa5q

Geometric stochastic resonance in a double cavity

Pulak K. Ghosh, Russell Glavey, Fabio Marchesoni, Sergey E. Savel'ev, Franco Nori
2011 Physical Review E  
Geometric stochastic resonance of particles diffusing across a porous membrane subject to oscillating forces is characterized as a synchronization process.  ...  In view of potential applications to the transport of colloids and biological molecules through narrow pores, we also consider the role of particle repulsion as a controlling factor.  ...  ACKNOWLEDGMENTS We thank the RIKEN RICC for providing computing resources. F.N. acknowledges partial support from the Labo-  ... 
doi:10.1103/physreve.84.011109 pmid:21867115 fatcat:cju2yzpw2fenjftwf2qxsdjddu

Page 843 of The Journal of the Operational Research Society Vol. 60, Issue 6 [page]

2009 The Journal of the Operational Research Society  
exploration, R&D, advertising, marketing research, etc).  ...  Value-enhancing actions like advertisement, and exploration (natural resource explo- ration for example) and marketing research programmes that “Correspondence: Department of Public and Business Administration  ... 

Editorial

Eddie Chaplin, Jane McCarthy, Steven Hardy
2020 Advances in Autism  
screen for autism spectrum conditions with the support of preschool teachers.  ...  The first paper from Redquest and colleagues aims to explore the social and motor impairments of children with autism through the perspectives of eight caregivers of children with autism.  ...  It used an eyetracker paradigm for assessing visual exploration and recognition memory towards geometric figures in 17 children with ASD matched with 17 children with typical development (TD).  ... 
doi:10.1108/aia-10-2020-058 fatcat:wpswwqr5yvcg7fc7q3pe32qzwy

ROAD: Interactive Geometric Design Tool for Transportation Education and Training

Chen-Fu Liao, David M. Levinson
2013 Journal of professional issues in engineering education and practice  
A new software tool, Roadway Online Application for Design (ROAD), was developed to enhance the learning experience for transportation engineering students.  ...  Traditionally, transportation engineering students have used engineering drawing techniques to manually lay out lines and curves over contour maps for highway geometric design.  ...  The authors appreciate the support from the Center for Transportation Studies for setting up the online survey interfaces.  ... 
doi:10.1061/(asce)ei.1943-5541.0000142 fatcat:qplhmgvq3jd6dau3cldmbswysu
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