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Articles 31 - 41 of 41
Full-Text Articles in Physical Sciences and Mathematics
Real-Time Behavior-Based Robot Control, Brian G. Wooley, Gilbert L. Peterson, Jared T. Kresge
Real-Time Behavior-Based Robot Control, Brian G. Wooley, Gilbert L. Peterson, Jared T. Kresge
Faculty Publications
Behavior-based systems form the basis of autonomous control for many robots, but there is a need to ensure these systems respond in a timely manner. Unexpected latency can adversely affect the quality of an autonomous system’s operations, which in turn can affect lives and property in the real-world. A robots ability to detect and handle external events is paramount to providing safe and dependable operation. This paper presents a concurrent version of a behavior-based system called the Real-Time Unified Behavior Framework, which establishes a responsive basis of behavior-based control that does not bind the system developer to any single behavior …
Feasibility Study Of Utility-Directed Behaviour For Computer Game Agents, Colm Sloan, John D. Kelleher, Brian Mac Namee
Feasibility Study Of Utility-Directed Behaviour For Computer Game Agents, Colm Sloan, John D. Kelleher, Brian Mac Namee
Conference papers
Utility-based control (UBC) hasn’t been widely adopted for commercial game AI. Some of the reasons for this are that UBC is perceived to be: (1) resource intensive, (2) difficult to design complex behaviours with, and (3) difficult to scale for use in complex environments. This paper investigates these perceptions to see if UBC is suitable for controlling the behaviour of non-player characters in commercial games. The investigation compares agents using a UBC system against two control systems that are more frequently used in commercial games: finite state machines (FSMs), considered a simple control system, and goal-oriented action planning (GOAP), considered …
Automatic Annotation Of Referring Expression In Situated Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee
Automatic Annotation Of Referring Expression In Situated Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee
Articles
To apply machine learning techniques to the production and interpretation of natural language, we need large amounts of annotated language data. Manual annotation, however, is an expensive and time consuming process since it involves human annotators looking at the data and explicitly adding information that is implicitly contained in the data, based on their judgment. This work presents an approach to automatically annotating referring expressions in situated dialogues by exploiting the interpretation of language by the participants in the dia- logue. We associate instructions concerning objects in the environment with automatically detected events involving these objects and predict the referents …
Fine-Tuning Algorithm Parameters Using The Design Of Experiments Approach, Aldy Gunawan, Hoong Chuin Lau, Linda Lindawati
Fine-Tuning Algorithm Parameters Using The Design Of Experiments Approach, Aldy Gunawan, Hoong Chuin Lau, Linda Lindawati
Research Collection School Of Computing and Information Systems
Optimizing parameter settings is an important task in algorithm design. Several automated parameter tuning procedures/configurators have been proposed in the literature, most of which work effectively when given a good initial range for the parameter values. In the Design of Experiments (DOE), a good initial range is known to lead to an optimum parameter setting. In this paper, we present a framework based on DOE to find a good initial range of parameter values for automated tuning. We use a factorial experiment design to first screen and rank all the parameters thereby allowing us to then focus on the parameter …
Improving Service Through Just-In-Time Concept In A Dynamic Operational Environment, Kar Way Tan, Hoong Chuin Lau, Na Fu
Improving Service Through Just-In-Time Concept In A Dynamic Operational Environment, Kar Way Tan, Hoong Chuin Lau, Na Fu
Research Collection School Of Computing and Information Systems
This paper is concerned with the problem of Just-In-Time (JIT) job scheduling in a dynamic environment under uncertainty to attain timely service. We provide an approach, based on robust scheduling concepts, to analytically evaluate the expected cost of earliness and tardiness for each job and also the project. In addition, we search for a schedule execution policy with the minimum robust cost such that for a given risk level (epsilon), the actual realized schedule has (1 - epsilon) probability of completing with less than or equal to this robust cost. Our method is quite generic, and can be applied to …
Instance-Based Parameter Tuning Via Search Trajectory Similarity Clustering, Linda Lindawati, Hoong Chuin Lau, David Lo
Instance-Based Parameter Tuning Via Search Trajectory Similarity Clustering, Linda Lindawati, Hoong Chuin Lau, David Lo
Research Collection School Of Computing and Information Systems
This paper is concerned with automated tuning of parameters in local-search based meta-heuristics. Several generic approaches have been introduced in the literature that returns a ”one-size-fits-all” parameter configuration for all instances. This is unsatisfactory since different instances may require the algorithm to use very different parameter configurations in order to find good solutions. There have been approaches that perform instance-based automated tuning, but they are usually problem-specific. In this paper, we propose CluPaTra, a generic (problem-independent) approach to perform parameter tuning, based on CLUstering instances with similar PAtterns according to their search TRAjectories. We propose representing a search trajectory as …
Would Price Limits Have Made Any Difference To The 'Flash Crash' On May 6, 2010, Wing Bernard Lee, Shih-Fen Cheng, Annie Koh
Would Price Limits Have Made Any Difference To The 'Flash Crash' On May 6, 2010, Wing Bernard Lee, Shih-Fen Cheng, Annie Koh
Research Collection School Of Computing and Information Systems
On May 6, 2010, the U.S. equity markets experienced a brief but highly unusual drop in prices across a number of stocks and indices. The Dow Jones Industrial Average (see Figure 1) fell by approximately 9% in a matter of minutes, and several stocks were traded down sharply before recovering a short time later. The authors contend that the events of May 6, 2010 exhibit patterns consistent with the type of "flash crash" observed in their earlier study (2010). This paper describes the results of nine different simulations created by using a large-scale computer model to reconstruct the critical elements …
Imbalanced Learning For Functional State Assessment, Feng Li, Frederick Mckenzie, Jiang Li, Guanfan Zhang, Roger Xu, Carl Richey, Tom Schnell, Thomas E. Pinelli (Ed.)
Imbalanced Learning For Functional State Assessment, Feng Li, Frederick Mckenzie, Jiang Li, Guanfan Zhang, Roger Xu, Carl Richey, Tom Schnell, Thomas E. Pinelli (Ed.)
Electrical & Computer Engineering Faculty Publications
This paper presents results of several imbalanced learning techniques applied to operator functional state assessment where the data is highly imbalanced, i.e., some function states (majority classes) have much more training samples than other states (minority classes). Conventional machine learning techniques usually tend to classify all data samples into majority classis and perform poorly for minority classes. In this study, we implemented five imbalanced learning techniques, including random under-sampling, random over-sampling, synthetic minority over-sampling technique (SMOTE), borderline-SMOTE and adaptive synthetic sampling (ADASYN) to solve this problem. Experimental results on a benchmark driving test dataset show that accuracies for minority classes …
An Integrated Computer-Aided Robotic System For Dental Implantation, Xiaoyan Sun, Yongki Yoon, Jiang Li, Frederic D. Mckenzie
An Integrated Computer-Aided Robotic System For Dental Implantation, Xiaoyan Sun, Yongki Yoon, Jiang Li, Frederic D. Mckenzie
Electrical & Computer Engineering Faculty Publications
This paper describes an integrated system for dental implantation including both preoperative planning utilizing computer-aided technology and automatic robot operation during the intra-operative stage. A novel two-step registration procedure was applied for transforming the preoperative plan to the operation of the robot, with the help of a Coordinate Measurement Machine (CMM). Experiments with a patient-specific phantom were carried out to evaluate the registration error for both position and orientation. After adopting several improvements, registration accuracy of the system was significantly improved. Sub-millimeter accuracy with the Target Registration Errors (TREs) of 0.38±0.16 mm (N=5) was achieved. The target orientation errors after …
Marine Buoy Detection Using Circular Hough Transform, Loc Tran, Justin Selfridge, Gene Hou, Jiang Li
Marine Buoy Detection Using Circular Hough Transform, Loc Tran, Justin Selfridge, Gene Hou, Jiang Li
Electrical & Computer Engineering Faculty Publications
A low cost method for buoy detection in maritime settings is presented using inexpensive digital cameras. In this method, the circular Hough transform is applied to an edge image to circular objects in the image. The center of these circles will signify the locations of each buoy. The known color information of the buoys is also used to enhance the performance by removing false detections. The algorithm is compared to an approach that locates buoys purely on color information. In order to validate the method, we test the approach synthetically and also with real images captured from a small surface …
Prediction Of Brain Tumor Progression Using Multiple Histogram Matched Mri Scans, Debrup Banerjee, Loc Tran, Jiang Li, Yuzhong Shen, Frederic Mckenzie, Jihong Wang, Ronald M. Summers (Ed.), Bram Van Ginneken (Ed.)
Prediction Of Brain Tumor Progression Using Multiple Histogram Matched Mri Scans, Debrup Banerjee, Loc Tran, Jiang Li, Yuzhong Shen, Frederic Mckenzie, Jihong Wang, Ronald M. Summers (Ed.), Bram Van Ginneken (Ed.)
Electrical & Computer Engineering Faculty Publications
In a recent study [1], we investigated the feasibility of predicting brain tumor progression based on multiple MRI series and we tested our methods on seven patients' MRI images scanned at three consecutive visits A, B and C. Experimental results showed that it is feasible to predict tumor progression from visit A to visit C using a model trained by the information from visit A to visit B. However, the trained model failed when we tried to predict tumor progression from visit B to visit C, though it is clinically more important. Upon a closer look at the MRI scans …