This comprehensive review article delves into the intricate realm of fault-tolerant control (FTC) schemes tailored for robotic manipulators. Our exploration spans the historical evolution of FTC, tracing its development over time, and meticulously examines the recent breakthroughs fueled by the synergistic integration of cutting-edge technologies such as artificial intelligence (AI), machine learning (ML), and digital twin technologies (DTT). The article places a particular emphasis on the transformative influence these contemporary trends exert on the landscape of robotic manipulator control and fault tolerance. By delving into the historical context, our aim is to provide a comprehensive understanding of the evolution of FTC schemes. This journey encompasses the transition from model-based and signal-based schemes to the role of sensors, setting the stage for an exploration of the present-day paradigm shift enabled by AI, ML, and DTT. The narrative unfolds as we dissect the intricate interplay between these advanced technologies and their applications in enhancing fault tolerance within the domain of robotic manipulators. Our review critically evaluates the impact of these advancements, shedding light on the novel methodologies, techniques, and applications that have emerged in recent times. The overarching goal of this article is to present a comprehensive perspective on the current state of fault diagnosis and fault-tolerant control within the context of robotic manipulators, positioning our exploration within the broader framework of AI, ML, and DTT advancements. Through a meticulous examination of both historical foundations and contemporary innovations, this review significantly contributes to the existing body of knowledge, offering valuable insights for researchers, practitioners, and enthusiasts navigating the dynamic landscape of robotic manipulator control.
We study how to best spend a budget of noisy labels to compare the accuracy of two binary classifiers. It's common practice to collect and aggregate multiple noisy labels for a given data point into a less noisy label via a majority vote. We prove a theorem that runs counter to conventional wisdom. If the goal is to identify the better of two classifiers, we show it's best to spend the budget on collecting a single label for more samples. Our result follows from a non-trivial application of Cram\'er's theorem, a staple in the theory of large deviations. We discuss the implications of our work for the design of machine learning benchmarks, where they overturn some time-honored recommendations. In addition, our results provide sample size bounds superior to what follows from Hoeffding's bound.
Modeling time series data remains a pervasive issue as the temporal dimension is inherent to numerous domains. Despite significant strides in time series forecasting, high noise-to-signal ratio, non-normality, non-stationarity, and lack of data continue challenging practitioners. In response, we leverage a simple representation augmentation technique to overcome these challenges. Our augmented representation acts as a statistical-space prior encoded at each time step. In response, we name our method Statistical-space Augmented Representation (SSAR). The underlying high-dimensional data-generating process inspires our representation augmentation. We rigorously examine the empirical generalization performance on two data sets with two downstream temporal learning algorithms. Our approach significantly beats all five up-to-date baselines. Moreover, the highly modular nature of our approach can easily be applied to various settings. Lastly, fully-fledged theoretical perspectives are available throughout the writing for a clear and rigorous understanding.
The development of Courses of Action (COAs) in military operations is traditionally a time-consuming and intricate process. Addressing this challenge, this study introduces COA-GPT, a novel algorithm employing Large Language Models (LLMs) for rapid and efficient generation of valid COAs. COA-GPT incorporates military doctrine and domain expertise to LLMs through in-context learning, allowing commanders to input mission information - in both text and image formats - and receive strategically aligned COAs for review and approval. Uniquely, COA-GPT not only accelerates COA development, producing initial COAs within seconds, but also facilitates real-time refinement based on commander feedback. This work evaluates COA-GPT in a military-relevant scenario within a militarized version of the StarCraft II game, comparing its performance against state-of-the-art reinforcement learning algorithms. Our results demonstrate COA-GPT's superiority in generating strategically sound COAs more swiftly, with added benefits of enhanced adaptability and alignment with commander intentions. COA-GPT's capability to rapidly adapt and update COAs during missions presents a transformative potential for military planning, particularly in addressing planning discrepancies and capitalizing on emergent windows of opportunities.
We introduce an adaptive scheduling for adaptive sampling as a novel way of machine learning in the construction of part-of-speech taggers. The goal is to speed up the training on large data sets, without significant loss of performance with regard to an optimal configuration. In contrast to previous methods using a random, fixed or regularly rising spacing between the instances, ours analyzes the shape of the learning curve geometrically in conjunction with a functional model to increase or decrease it at any time. The algorithm proves to be formally correct regarding our working hypotheses. Namely, given a case, the following one is the nearest ensuring a net gain of learning ability from the former, it being possible to modulate the level of requirement for this condition. We also improve the robustness of sampling by paying greater attention to those regions of the training data base subject to a temporary inflation in performance, thus preventing the learning from stopping prematurely. The proposal has been evaluated on the basis of its reliability to identify the convergence of models, corroborating our expectations. While a concrete halting condition is used for testing, users can choose any condition whatsoever to suit their own specific needs.
This research provides an in-depth comprehensive review of the progress of chatbot technology over time, from the initial basic systems relying on rules to today's advanced conversational bots powered by artificial intelligence. Spanning many decades, the paper explores the major milestones, innovations, and paradigm shifts that have driven the evolution of chatbots. Looking back at the very basic statistical model in 1906 via the early chatbots, such as ELIZA and ALICE in the 1960s and 1970s, the study traces key innovations leading to today's advanced conversational agents, such as ChatGPT and Google Bard. The study synthesizes insights from academic literature and industry sources to highlight crucial milestones, including the introduction of Turing tests, influential projects such as CALO, and recent transformer-based models. Tracing the path forward, the paper highlights how natural language processing and machine learning have been integrated into modern chatbots for more sophisticated capabilities. This chronological survey of the chatbot landscape provides a holistic reference to understand the technological and historical factors propelling conversational AI. By synthesizing learnings from this historical analysis, the research offers important context about the developmental trajectory of chatbots and their immense future potential across various field of application which could be the potential take ways for the respective research community and stakeholders.
Magnetic resonance imaging (MRI) is a vital medical imaging modality, but its development has been limited by prolonged scanning time. Deep learning (DL)-based methods, which build neural networks to reconstruct MR images from undersampled raw data, can reliably address this problem. Among these methods, model-driven DL methods incorporate different prior knowledge into deep networks, thereby narrowing the solution space and achieving better results. However, the complementarity among different prior knowledge has not been thoroughly explored. Most of the existing model-driven networks simply stack unrolled cascades to mimic iterative solution steps, which are inefficient and their performances are suboptimal. To optimize the conventional network structure, we propose a collaborative model-driven network. In the network, each unrolled cascade comprised three parts: model-driven subnetworks, attention modules, and correction modules. The attention modules can learn to enhance the areas of expertise for each subnetwork, and the correction modules can compensate for new errors caused by the attention modules. The optimized intermediate results are fed into the next cascade for better convergence. Experimental results on multiple sequences showed significant improvements in the final results without additional computational complexity. Moreover, the proposed model-driven network design strategy can be easily applied to other model-driven methods to improve their performances.
Irregularly sampled time series are ubiquitous, presenting significant challenges for analysis due to missing values. Despite existing methods address imputation, they predominantly focus on leveraging intra-series information, neglecting the potential benefits that inter-series information could provide, such as reducing uncertainty and memorization effect. To bridge this gap, we propose PRIME, a Prototype Recurrent Imputation ModEl, which integrates both intra-series and inter-series information for imputing missing values in irregularly sampled time series. Our framework comprises a prototype memory module for learning inter-series information, a bidirectional gated recurrent unit utilizing prototype information for imputation, and an attentive prototypical refinement module for adjusting imputations. We conducted extensive experiments on three datasets, and the results underscore PRIME's superiority over the state-of-the-art models by up to 26% relative improvement on mean square error.
This document contains lectures and practical experimentations using Matlab and implementing a system which is actually correctly classifying three words (one, two and three) with the help of a very small database. To achieve this performance, it uses speech modeling specificities, powerful computer algorithms (dynamic time warping and Dijktra's algorithm) and machine learning (nearest neighbor). This document introduces also some machine learning evaluation metrics.
On a very fundamental level, particle detectors share similar requirements for their read-out chain. This is reflected in the way that typical read-out solutions are developed, where a previous design is taken and modified to fit some changes in requirements. One of the two common approaches is the current-based read-out, where the waveform of the sensor output is sampled in order to later extract information from there. This approach is used in many detector applications using scintillation based detectors, including PET. With this contribution, we will introduce how we use Matlab in order to simulate the read-out electronics of particle detectors. We developed this simulation approach as a base for our ongoing development of software-defined read-out ASICs that cover the requirements of a variety of particle detector types. Simulink was chosen as a base for our developments as it allows simulation of mixed-signal systems and comes with built-in toolkits to aid in developments of such systems. With our approach, we want to take a new look at how we approach designing such a read-out, with a focus on digital signal processing close to the sensor, making use of known signal characteristics and modern methods of communications engineering. We are taking into account the time profile of an event, the bandwidth-limiting properties of the sensor and attached electronics, digitization stages and finally the parameterization of approaches for digital processing of the signal. We will show how we are applying the design approach to the development of a read-out for the proposed SHiP SBT detector, which is a scintillation based detector relying on SiPMs sensors, using this as an example for our modelling approach and show preliminary results.