Engineering topics
Publications and source records attributed to Taha, Mohammad M.A..
Introduction • H-Canyon: • Located at Savannah River Site . • Last production, radiologically shielded, operating nuclear chemical separation facility in the US . • Is in operations since the 1950 s . • The confinement and direction of the Canyon’s process airflow is provided by an underground tunnel .
Our goal is to develop a learning method for an Arduino-based robotthat maximizes travel distance and minimizes energy expenditure. • Will implement State ActionReward State Action (SARSA) reinforcement learning algorithm • Learning steps informed by state of environment • Rewards good decisions and punishes bad ones.
Our goal is to teach a robot to walk in an energy efficient way. Inspired by nature [1], we create a reinforcement learning method that balances distance traveled and energy consumption, which we call “utility.” Further, each step is symmetric to ensure equal strides while walking straight. We achieve our goal by rewarding decisions that lead to the best utility over several training iterations.