scholarly journals odNEAT: An Algorithm for Decentralised Online Evolution of Robotic Controllers

2015 ◽  
Vol 23 (3) ◽  
pp. 421-449 ◽  
Author(s):  
Fernando Silva ◽  
Paulo Urbano ◽  
Luís Correia ◽  
Anders Lyhne Christensen
Keyword(s):  
Evolutionary Dynamics ◽  
Autonomous Robots ◽  
Integrated Navigation ◽  
Task Execution ◽  
Neural Controllers ◽  
Novel Approach ◽  
Fixed Topology ◽  
High Degree ◽  
The Impact ◽  
Algorithmic Component

Online evolution gives robots the capacity to learn new tasks and to adapt to changing environmental conditions during task execution. Previous approaches to online evolution of neural controllers are typically limited to the optimisation of weights in networks with a prespecified, fixed topology. In this article, we propose a novel approach to online learning in groups of autonomous robots called odNEAT. odNEAT is a distributed and decentralised neuroevolution algorithm that evolves both weights and network topology. We demonstrate odNEAT in three multirobot tasks: aggregation, integrated navigation and obstacle avoidance, and phototaxis. Results show that odNEAT approximates the performance of rtNEAT, an efficient centralised method, and outperforms IM-([Formula: see text]), a decentralised neuroevolution algorithm. Compared with rtNEAT and IM-([Formula: see text]), odNEAT’s evolutionary dynamics lead to the synthesis of less complex neural controllers with superior generalisation capabilities. We show that robots executing odNEAT can display a high degree of fault tolerance as they are able to adapt and learn new behaviours in the presence of faults. We conclude with a series of ablation studies to analyse the impact of each algorithmic component on performance.

Online Evolution of Adaptive Robot Behaviour

2014 ◽  
Vol 4 (2) ◽  
pp. 59-77 ◽  
Author(s):  
Fernando Silva ◽  
Paulo Urbano ◽  
Anders Lyhne Christensen
Keyword(s):  
Network Topology ◽  
Nutritive Value ◽  
Autonomous Robots ◽  
Evolutionary Process ◽  
Modes Of Operation ◽  
Food Items ◽  
Neural Controllers ◽  
Novel Approach ◽  
Simulation Based ◽  
Foraging Task

The authors propose and evaluate a novel approach to the online synthesis of neural controllers for autonomous robots. The authors combine online evolution of weights and network topology with neuromodulated learning. The authors demonstrate our method through a series of simulation-based experiments in which an e-puck-like robot must perform a dynamic concurrent foraging task. In this task, scattered food items periodically change their nutritive value or become poisonous. The authors demonstrate that the online evolutionary process, both with and without neuromodulation, is capable of generating controllers well adapted to the periodic task changes. The authors show that when neuromodulated learning is combined with evolution, neural controllers are synthesised faster than by evolution alone. An analysis of the evolved solutions reveals that neuromodulation allows for a more effective expression of a given topology's potential due to the active modification of internal dynamics. Neuromodulated networks learn abstractions of the task and different modes of operation that are triggered by external stimulus.

Generating Cooperative Collective Behavior in Swarm Robotic Systems

2013 ◽  
Vol 17 (5) ◽  
pp. 699-706 ◽  
Author(s):  
Kazuhiro Ohkura ◽  
◽  
Toshiyuki Yasuda ◽  
Yoshiyuki Matsumura ◽  
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Autonomous Robots ◽  
Evolutionary Robotics ◽  
Multirobot Systems ◽  
Novel Approach ◽  
The Neural Network ◽  
Fixed Topology ◽  
Artificial Neural ◽  
Global Controller

Swarm robotics research involves multirobot systems that consist of many homogeneous autonomous robots but no global controller. In this paper, an evolutionary robotics approach using an artificial neural network is applied to a swarm robotic system. Conventionally, the neural network evolved using only synaptic weights under the condition of a fixed topology. Our research group has been developing a novel approach to a topology and weight evolving artificial neural network named Mutation-Based Evolving Artificial Neural Network (MBEANN). A series of computer simulations shows that MBEANN yields better results in terms of flexibility than conventional solutions to the cooperative package-pushing problem.

Prospects for the use of the “model budget” in the distribution of equalization grants in Russia

2019 ◽  
pp. 21-38
Author(s):  
Alexander N. Deryugin ◽  
Ilya A. Sokolov
Keyword(s):  
Intergovernmental Relations ◽  
Unfunded Mandates ◽  
Interregional Inequality ◽  
Alternative Approach ◽  
The Russian Federation ◽  
Regional Authorities ◽  
High Degree ◽  
Equalization Grants ◽  
The Impact ◽  
Budget Expenditure

The paper analyzes the impact of the “model budget” on the problems of intergovernmental relations in the Russian Federation: a high proportion of expenditure obligations of regional and local budgets and a high degree of interregional inequality in fiscal capacity and socio-economic development. It was concluded that the planned broader use of the “model budget” will not solve the problem of unfunded mandates and will lead first to a significant reduction in incentives for regional authorities to develop the territorial revenue base, and then to economic slowdown in the country. As an alternative approach to improving intergovernmental relations, options are being considered for adjusting the parameters of the equalization transfers distribution formula, the procedure for determining their total volume and calculating the budget expenditure index. In solving the problem of unfunded mandates, an equally important role is given to the procedure for preparing a financial and economic rationale for draft laws.

Агрономическая эффективность промышленной (голландской) технологии возделывания картофеля

2018 ◽  
Author(s):  
C. Coy ◽  
A.V. Shuravilin ◽  
O.A. Zakharova
Keyword(s):  
Heavy Metals ◽  
Regression Analysis ◽  
Positive Response ◽  
Growth Yield ◽  
Correlation And Regression Analysis ◽  
Yield And Quality ◽  
Quality Of Products ◽  
High Degree ◽  
The Impact

Приведены результаты исследований по изучению влияния промышленной технологии возделывания картофеля на развитие, урожайность и качество продукции. Выявлена положительная реакция растений на подкормку K2SO4 в период посадки. Корреляционно-регрессионный анализ урожайности и качества клубней выявил высокую степень достоверности результатов опыта. Содержание нитратов и тяжелых металлов в клубнях было ниже допустимых величин.The results of studies on the impact of industrial technology of potato cultivation on growth, yield and quality of products. There was a positive response of plants to fertilizer K2SO4 in the period of planting. Correlation and regression analysis of yield and quality of tubers revealed a high degree of reliability of the results of experience. The contents of nitrates and heavy metals in tubers was below the permissible values.

Te inf uence of ergonomic factors on the formation of occupational risk of health disorders of agricultural machine operators

2019 ◽  
Vol 1 (7) ◽  
pp. 400-405
Author(s):  
Tamara A. Novikova ◽  
Aleksey N. Danilov ◽  
Vladimir F. Spirin
Keyword(s):  
Physical Activity ◽  
Functional Condition ◽  
Anthropometric Data ◽  
Agricultural Machine ◽  
Machine Operators ◽  
Health Disorders ◽  
Space Layout ◽  
Combine Harvesters ◽  
High Degree ◽  
The Impact

Introduction. T e leading place in the structure of occupational morbidity of agricultural machine operators is occupied by vertebroneurological diseases, the development of which can be associated with the impact of ergonomic factors of labor activity. T e aim of the study is to assess the ergonomic factors of working conditions on mobile agricultural machinery and to identify their impact on the formation of health disorders of agricultural machine operators. Materials and methods. Complex physiological and ergonomic researches at operation of tractors and combine harvesters of old samples of domestic production including an assessment of the organization of workplaces on compliance to requirements of ergonomics and anthropometric data of workers, temporary, statodynamic, biomechanical characteristics of working poses and movements, a functional condition of machine operators (130 people aged 20–45 years with professional experience of work not less than three years) in dynamics of a work shift are carried out. Anthropometric studies were conducted among male machine operators (663 people) aged 18–59 years and with experience in the profession for more than three years. Results. The discrepancy between the size and space-layout parameters of workplaces ergonomic requirements and anthropometric data of machine operators, causing the formation of uncomfortable working positions, increasing physical activity and the severity of the labor process. A high degree of correlation between changes in the parameters of the neuromuscular system and the severity of the discrepancy between the ergonomic parameters of anthropometric characteristics of machine operators (r=0,7). T e results of the research allowed to determine the priority measures for the prevention of vertebroneurological diseases in agricultural machine operators. Conclusions. T e organization of workplaces on domestic tractors and combine harvesters of old samples does not meet the ergonomic requirements and anthropometric data of machine operators, which is the reason for the formation of an uncomfortable working posture, increased statodynamic physical activity, early development of fatigue and fatigue in the process, which can cause the development of pathological conditions of the spine and ligamentous apparatus. Ergonomic improvement of workplaces is one of the priority measures to preserve the health of agricultural machine operators.

scholarly journals Advertising Media Impact in Consumer Buying Behavior

2019 ◽  
Vol 8 ◽  
pp. 54-56
Author(s):  
Ashmita Dahal Chhetri
Keyword(s):  
Consumer Behavior ◽  
Young Male ◽  
Electronic Media ◽  
Buying Behavior ◽  
Media Impact ◽  
High Degree ◽  
The Impact ◽  
Buying Behaviors ◽  
The Relationship ◽  
Better Than

Advertisements have been used for many years to influence the buying behaviors of the consumers. Advertisements are helpful in creating the awareness and perception among the customers of a product. This particular research was conducted on the 100 young male and female who use different brands of product to check the influence of advertisement on their buying behavior while creating the awareness and building the perceptions. Correlation, regression and other statistical tools were used to identify the relationship between these variables. The results revealed that the relationship between media and consumer behavior is positive. The adve1tising impact on sales and there is positive and high degree relationship between advertising and consumer behavior. The impact on advertising of a product of electronic media is better than non-electronic media.

scholarly journals Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3673
Author(s):  
Stefan Grushko ◽  
Aleš Vysocký ◽  
Petr Oščádal ◽  
Michal Vocetka ◽  
Petr Novák ◽  
...  
Keyword(s):  
User Study ◽  
Haptic Feedback ◽  
Fundamental Aspect ◽  
Task Completion ◽  
Good Efficiency ◽  
Notification System ◽  
Movement Data ◽  
Novel Approach ◽  
Machine Interface ◽  
High Degree

In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot’s movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot’s movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot’s intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the currently planned robot’s trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately recognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and generally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users’ awareness about the motion plan of the robot.

scholarly journals Measuring spatial price differentials at the basic heading level: a comparison of stochastic index number methods

2021 ◽  
Author(s):  
Sebastian Weinand
Keyword(s):  
Price Level ◽  
Consumer Price Index ◽  
Index Number ◽  
Price Data ◽  
Estimation Efficiency ◽  
Spatial Price ◽  
Price Comparisons ◽  
High Degree ◽  
The Impact

AbstractSpatial price comparisons rely to a high degree on the quality of the underlying price data that are collected within or across countries. Below the basic heading level, these price data often exhibit large gaps. Therefore, stochastic index number methods like the Country–Product–Dummy (CPD) method and the Gini–Eltetö–Köves–Szulc (GEKS) method are utilised for the aggregation of the price data into higher-level indices. Although the two index number methods produce differing price level estimates when prices are missing, the present paper demonstrates that both can be derived from exactly the same stochastic model. For a specific case of missing prices, it is shown that the formula underlying these price level estimates differs between the two methods only in weighting. The impact of missing prices on the efficiency of the price level estimates is analysed in two simulation studies. It can be shown that the CPD method slightly outperforms the GEKS method. Using micro data of Germany’s Consumer Price Index, it can be observed that more narrowly defined products improve estimation efficiency.

scholarly journals Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Korbinian Nottensteiner ◽  
Arne Sachtler ◽  
Alin Albu-Schäffer
Keyword(s):  
Autonomous Robots ◽  
Vision System ◽  
Dynamic Environments ◽  
Bayesian Framework ◽  
Experimental Results ◽  
Robotic Assembly ◽  
Tactile Sensing ◽  
Task Execution ◽  
Industrial Assembly ◽  
Assembly Tasks

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

scholarly journals A Compensatory Fuzzy Logic Model in Technical Trading

Axioms ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 36
Author(s):  
Norma P. Rodríguez-Cándido ◽  
Rafael A. Espin-Andrade ◽  
Efrain Solares ◽  
Witold Pedrycz
Keyword(s):  
Fuzzy Logic ◽  
Technical Analysis ◽  
Graphical Analysis ◽  
Logic Model ◽  
Financial Asset ◽  
Financial Assets ◽  
Novel Approach ◽  
Subjective Assessments ◽  
Efficient Prediction ◽  
High Degree

This work presents a novel approach to prediction of financial asset prices. Its main contribution is the combination of compensatory fuzzy logic and the classical technical analysis to build an efficient prediction model. The interpretability properties of the model allow its users to incorporate and consider virtually any set of rules from technical analysis, in addition to the investors’ knowledge related to the actual market conditions. This knowledge can be incorporated into the model in the form of subjective assessments made by investors. Such assessments can be obtained, for example, from the graphical analysis commonly performed by traders. The effectiveness of the model was assessed through its systematic application in the stock and cryptocurrency markets. From the results, we conclude that when the model shows a high degree of recommendation, the actual financial assets show high effectiveness.

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