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Geometric Exploration for Online Control
[article]
2020
arXiv
pre-print
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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
2004
Nucleic Acids Research
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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
2015
The Internet and higher education
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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)
2021
IEEE Transactions on Automation Science and Engineering
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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]
2022
arXiv
pre-print
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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
2009
2009 9th IEEE-RAS International Conference on Humanoid Robots
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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
2013
International Journal of Online Engineering (iJOE)
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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
2021
2021 International Conference on 3D Vision (3DV)
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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
2013
2013 IEEE Intelligent Vehicles Symposium (IV)
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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
2018
Frontiers in Neurorobotics
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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
2014
Foundations and Trends® in Systems and Control
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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
2011
Physical Review E
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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
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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
2020
Advances in Autism
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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
2013
Journal of professional issues in engineering education and practice
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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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