Efficient Model Learning for Human-Robot Collaborative Tasks

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any human intervention. First, we describe the clustering of demonstrated action sequences into different human types using an unsupervised learning algorithm. These demonstrated sequences are also used by the robot to learn a reward function that is representative for each type, through the employment of an inverse reinforcement learning algorithm. The learned model is then used as part of a Mixed Observability Markov Decision Process formulation, wherein the human type is a partially observable variable. With this framework, we can infer, either offline or online, the human type of a new user that was not included in the training set, and can compute a policy for the robot that will be aligned to the preference of this new user and will be robust to deviations of the human actions from prior demonstrations. Finally we validate the approach using data collected in human subject experiments, and conduct proof-of-concept demonstrations in which a person performs a collaborative task with a small industrial robot

Effects of doping and epitaxy on optical behavior of NaNbO3 films

Cube-on-cube epitaxy of perovskite sub-cell of Pr-doped and undoped NaNbO3 is obtained in 130-nm-thick films on top of (La0.18Sr0.82)(Al0.59Ta0.41)O3 (001) substrates. Experimental studies show that the edge of optical absorption red-shifts and some interband transitions change in the films compared to crystals. Bright red luminescence is achieved at room-temperature under ultraviolet excitation in the Pr-doped film. An interband mechanism of luminescence excitation is detected in the film, which is in contrast to the intervalence charge transfer mechanism in the crystal. The results are discussed in terms of epitaxially induced changes of crystal symmetry and ferroelectric polarization in the films. It is suggested that the band structure and interband transitions in NaNbO3and the transition probabilities in the Pr ions can be significantly modified by these changes.Peer reviewe

Определение расходных характеристик в технологических процессах с контролируемым давлением

Assessment of the environmental and economic performance of a safety valve requires information about the flow of the substance through the valve when it is actuated. The goal of this paper was to determine the flow rate of the discharged substance and the mass flow rate of the substance entering the safety valve when it is actuated. Proposed a mathematical model to describe the processes occurring in the valve. The model includes a system of differential equations describing the physical laws of conservation in the internal volume of the valve and differential equations, which link the value of gas flow through the valve with the pressure and the amount of movement of the shut-off disk. Used a modified method by S.K. Godunov to solve gasdynamic equations. Established that the determination of the flow and power characteristics of the valve requires the preliminary construction of a mathematical model of the safety valve operation. Based on this, proposed a method for determining the flow rate of the discharged substance and the mass rate of the substance entering the safety valve when it is actuated. Obtained the flow characteristics of the valves under review and the dynamics of movement of the shutoff disc of the valve, as well as the dependence of the pressure change on the opening time of the valve. Comparison of the calculated values with available experimental data gives good agreement of results (no more than 5.6 % for a gas flow rate, under 10 % for the movement of the valve and change the arrival of gas in time using the standard deviation function of the flow characteristics of 0.6 %), confirms the correctness of the defined mathematical model, used numerical schemes and algorithms, as well as the proposed method and recoverability of the arrival of gas in a pressure–time curve

Learning perceptually grounded word meanings from unaligned parallel data

In order for robots to effectively understand natural language commands, they must be able to acquire meaning representations that can be mapped to perceptual features in the external world. Previous approaches to learning these grounded meaning representations require detailed annotations at training time. In this paper, we present an approach to grounded language acquisition which is capable of jointly learning a policy for following natural language commands such as “Pick up the tire pallet,” as well as a mapping between specific phrases in the language and aspects of the external world; for example the mapping between the words “the tire pallet” and a specific object in the environment. Our approach assumes a parametric form for the policy that the robot uses to choose actions in response to a natural language command that factors based on the structure of the language. We use a gradient method to optimize model parameters. Our evaluation demonstrates the effectiveness of the model on a corpus of commands given to a robotic forklift by untrained users.U.S. Army Research Laboratory (Collaborative Technology Alliance Program, Cooperative Agreement W911NF-10-2-0016)United States. Office of Naval Research (MURIs N00014-07-1-0749)United States. Army Research Office (MURI N00014-11-1-0688)United States. Defense Advanced Research Projects Agency (DARPA BOLT program under contract HR0011-11-2-0008

Fractional distillation of pyrolysis oil

Целью данного исследования является изучение пригодности фракционной дистилляции для пиролизного масла и выделение лимонена из пиролизного масла

International Geomagnetic Reference Field: the eleventh generation

The eleventh generation of the International Geomagnetic Reference Field (IGRF) was adopted in December 2009 by the International Association of Geomagnetism and Aeronomy Working Group V-MOD. It updates the previous IGRF generation with a definitive main field model for epoch 2005.0, a main field model for epoch 2010.0, and a linear predictive secular variation model for 2010.0-2015.0. In this note the equations defining the IGRF model are provided along with the spherical harmonic coefficients for the eleventh generation. Maps of the magnetic declination, inclination and total intensity for epoch 2010.0 and their predicted rates of change for 2010.0-2015.0 are presented. The recent evolution of the South Atlantic Anomaly and magnetic pole positions are also examine

THE PROBLEM OF COMMUNICATIVE COMPETENCE OF A TEACHER

The article presents the observations of the author about the role of communicative competence of a teacher; communicative competence described as the core of professionalism of teachers. Characterized Toolkit, a set of communicative skills of the teacher.В статье представлены наблюдения автора о роли коммуникативной компетентности учителя; коммуникативная компетентность охарактеризована как ядро профессионализма учителя. Охарактеризованы инструментарий, набор коммуникативных умений учителя

Interface Friction Parameters for the Mathematical Modeling of Shell Structures with Infill

Thin metal or reinforced concrete shells with granular infill structures are considered in this article. These structures are massive and they are used as support for the construction of berthing quays, piers, artificial islands, shore protection, and other structures of coastal infrastructure. It is more convenient to use the thin shell structures during the development of the Arctic shelf, because it is possible to install them from the ice side. In addition, it is possible to enhance the technology and install thin shells with infill on deeper solid foundation layers. A mathematical model for the stresses on a compressible foundation soil in front of a thin cylindrical shell with infill due to the eccentric loading is developed. A modeling and experimental determination of the interface strength of the contact surface between the infill and the inner surface of the shell is proposed. The details of the construction stages and testing of the physical model used for the experiments are discussed. The effects of the interface friction on the shell behavior and on the foundation stresses in front of the wall are investigated. The influence of parameters affecting the interaction between the soil infill and the inner surface of the shell material is determined. It is based on a comparison of experimental results with calculations performed using the proposed mathematical model. The obtained parameters and proposed methods can be used in numerical simulations using the finite element method to analyze and design the thin shell structures with soil infill. The findings of the study and proposed methods can also be applied to the thin shell structures used in other facilities such as hydraulic, industrial, civil, and transportation