Utilizing Reinforcement Learning to Continuously Improve a Primitive-Based Motion Planner.
Abstract not provided.
Goddard, Zachary↗
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Utilizing Reinforcement Learning to Continuously Improve a Primitive-Based Motion Planner.
Abstract not provided.
Goddard, Zachary↗
SCENT: Robust Spatiotemporal Learning for Continuous Scientific Data via Scalable Conditioned Neural Fields
Explore the source record for details and available documents.
97 MATHEMATICS AND COMPUTING↗
Noise Robustness and Experimental Demonstration of a Quantum Generative Adversarial Network for Continuous Distributions
Abstract The potential advantage of machine learning in quantum computers is a topic of intense discussion in the literature. Theoretical, numerical, and experimental explorations will most likely be required to understand its power. There have been different algorithms proposed to exploit the probabilistic nature of variational quantum circuits for generative modeling. In this paper, a hybrid architecture for quantum generative adversarial networks (QGANs) is employed and their robustness in the presence of noise is studied. A simple way of adding different types of noise to the quantum generator circuit is devised, and the noisy hybrid QGANs (HQGANs) are simulated numerically to learn continuous probability distributions, and to show that the performance of HQGANs remains unaffected. The effect of different parameters on the training time is also investigated to reduce the computational scaling of the algorithm and simplify its deployment on a quantum computer. The training on Rigetti's Aspen‐4‐2Q‐A quantum processing unit is then performed, and the results from the training are presented. The authors' results pave the way for experimental exploration of different quantum machine learning algorithms on noisy intermediate‐scale quantum devices.
Anand, Abhinav↗
Clustering earthquake signals and background noises in continuous seismic data with unsupervised deep learning
The continuously growing amount of seismic data collected worldwide is outpacing our abilities for analysis, since to date, such datasets have been analyzed in a human-expert intensive, supervised fashion. Moreover, analyses that are conducted can be strongly biased by the standard models employed by seismologists. In response to both of these challenges, we develop a new unsupervised machine learning framework for detecting and clustering seismic signals in continuous seismic records. Our approach combines a deep scattering network and a Gaussian mixture model to cluster seismic signal segments and detect novel structures. To illustrate the power of the framework, we analyze seismic data acquired during the June 2017 Nuugaatsiaq, Greenland landslide. We demonstrate the blind detection and recovery of the repeating precursory seismicity that was recorded before the main landslide rupture, which suggests that our approach could lead to more informative forecasting of the seismic activity in seismogenic areas.
59 BASIC BIOLOGICAL SCIENCES↗
Neuromorphic learning of continuous-valued mappings from noise-corrupted data. Application to real-time adaptive control
The ability of feed-forward neural network architectures to learn continuous valued mappings in the presence of noise was demonstrated in relation to parameter identification and real-time adaptive control applications. An error function was introduced to help optimize parameter values such as number of training iterations, observation time, sampling rate, and scaling of the control signal. The learning performance depended essentially on the degree of embodiment of the control law in the training data set and on the degree of uniformity of the probability distribution function of the data that are presented to the net during sequence. When a control law was corrupted by noise, the fluctuations of the training data biased the probability distribution function of the training data sequence. Only if the noise contamination is minimized and the degree of embodiment of the control law is maximized, can a neural net develop a good representation of the mapping and be used as a neurocontroller. A multilayer net was trained with back-error-propagation to control a cart-pole system for linear and nonlinear control laws in the presence of data processing noise and measurement noise. The neurocontroller exhibited noise-filtering properties and was found to operate more smoothly than the teacher in the presence of measurement noise.
Troudet, Terry↗
Decision and Control of Complex Systems – A Data-Drive Framework
During the project period, we have collaborated with other team members and developed novel algorithms for novelty detection, continual learning, and graph learning algorithms for dynamic systems. The results are documented in publications and meeting notes. Moreover, we leverage virtual collaboration tools (such as Basecamp, Microsoft Teams and Zoom) for technical exchanges. Our research on novelty detection was published at AAAI 2022 and Lecture Notes in Artificial Intelligence, Springer Nature. The newly developed algorithms were successfully applied to realistic cases, including thermal data from buildings at Pacific Northwest National Lab and microelectronic data provided by GlobalFoundries. Multiple publications have been produced from this project, in collaboration with other team members. Three PhD students were supported in this project to conduct their research.
42 ENGINEERING↗
Learning-Based Demand Response in Grid Interactive Buildings via Gaussian Processes
This paper presents a predictive controller for a grid-interactive multi-zone building where the temperature dynamics are learned via Gaussian Process (GP) regression. We investigate the development of a learning-based predictive control with two main objectives: (i) continuously learn the temperature dynamics of the building based on data; and, (ii) use the learned dynamics to solve a multi-objective predictive control problem to guarantee occupants' comfort and energy efficiency during normal conditions and demand response events. We leverage the probabilistic non-parametric properties of GPs to estimate the (unknown) non-linear temperature dynamics of the building and to incorporate the uncertainty of those predictions in a multi-objective optimization problem. The GP-based predictive control is solved via a zero-order primal-dual projected-gradient algorithm. We evaluate numerically the performance of the proposed controller using a five-zone commercial building.
demand response↗
URS/WTP's Future Leader Program and AECOM's Early Career Professional Technology Exchange - 17239
URS Energy and Construction, Inc. (URS), a subsidiary of AECOM, is the Bechtel National, Inc. (BNI) teaming subcontractor on the Hanford Tank Waste Treatment and Immobilization Plant (WTP) Project. Recently, the WTP Project has begun a transition toward facility turnover and commissioning. With that transition came the hiring of staff for the startup and commissioning workforce. With many of these individuals being Early Career Professionals (ECPs), URS recognized a need to create and implement a workforce development program to give these professionals the skills to thrive in a professional environment and provide a sense of community to improve talent retention. The result of this recognition of need was the creation of URS/WTP Future Leaders. This paper will share the successes and lessons learned related to founding the URS/WTP Future Leaders. This includes establishing programs such as the Continuous Learning Workshops, Rotational Program, and implementing a mentor program. In addition, establishing a budget and obtaining support from Human Resources will be discussed. By March 2017, the ECP program will have been in effect for approximately two years. As a separate effort, many of AECOM's major waste remediation contractors have started having Early Career Professional Technology Exchanges (ECP TE) in an effort to create collaboration between sites and to establish industry contacts that will continue to be a resource for years to come. Washington River Protection Solutions, LLC; URS/WTP; Savannah River Remediation, LLC; and Nuclear Waste Partnership, LLC have conducted ECP TE, with each site hosting an event. For these events, each participant prepares a presentation and answers questions on the presentation topic. This allows ECPs to practice presentation skills, develop skills in answering questions from their peers and management, and be the expert in the room on a particular topic. Tours of the onsite facilities also are given as a way for ECPs to gain a broader understanding of the waste remediation industry and the challenges that other sites are facing. Accomplishments, lessons learned, and future plans for ECP TE will be discussed. The ECP TE events allow AECOM, as the parent company, to provide a unique learning opportunity to the next generation of engineers within the DOE nuclear field and to ensure the safe operations of these nuclear sites for years to come. (authors)
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
Cascade Back-Propagation Learning in Neural Networks
The cascade back-propagation (CBP) algorithm is the basis of a conceptual design for accelerating learning in artificial neural networks. The neural networks would be implemented as analog very-large-scale integrated (VLSI) circuits, and circuits to implement the CBP algorithm would be fabricated on the same VLSI circuit chips with the neural networks. Heretofore, artificial neural networks have learned slowly because it has been necessary to train them via software, for lack of a good on-chip learning technique. The CBP algorithm is an on-chip technique that provides for continuous learning in real time. Artificial neural networks are trained by example: A network is presented with training inputs for which the correct outputs are known, and the algorithm strives to adjust the weights of synaptic connections in the network to make the actual outputs approach the correct outputs. The input data are generally divided into three parts. Two of the parts, called the "training" and "cross-validation" sets, respectively, must be such that the corresponding input/output pairs are known. During training, the cross-validation set enables verification of the status of the input-to-output transformation learned by the network to avoid over-learning. The third part of the data, termed the "test" set, consists of the inputs that are required to be transformed into outputs; this set may or may not include the training set and/or the cross-validation set. Proposed neural-network circuitry for on-chip learning would be divided into two distinct networks; one for training and one for validation. Both networks would share the same synaptic weights.
Duong, Tuan A.↗
A neuro-fuzzy architecture for real-time applications
Neural networks and fuzzy expert systems perform the same task of functional mapping using entirely different approaches. Each approach has certain unique features. The ability to learn specific input-output mappings from large input/output data possibly corrupted by noise and the ability to adapt or continue learning are some important features of neural networks. Fuzzy expert systems are known for their ability to deal with fuzzy information and incomplete/imprecise data in a structured, logical way. Since both of these techniques implement the same task (that of functional mapping--we regard 'inferencing' as one specific category under this class), a fusion of the two concepts that retains their unique features while overcoming their individual drawbacks will have excellent applications in the real world. In this paper, we arrive at a new architecture by fusing the two concepts. The architecture has the trainability/adaptibility (based on input/output observations) property of the neural networks and the architectural features that are unique to fuzzy expert systems. It also does not require specific information such as fuzzy rules, defuzzification procedure used, etc., though any such information can be integrated into the architecture. We show that this architecture can provide better performance than is possible from a single two or three layer feedforward neural network. Further, we show that this new architecture can be used as an efficient vehicle for hardware implementation of complex fuzzy expert systems for real-time applications. A numerical example is provided to show the potential of this approach.
Ramamoorthy, P. A.↗
Data Visualization and Analytics for Optimal Process Parameter Selection in Turning
The objective of this project is to research physics-guided machine learning methods to recommend optimal tools and machining process parameters for turning applications using the MSC test database. For a given turning application, the MSC metalworking specialist needs to make decisions on tools and the associated process parameters for the MSC customer. For a given material, there are many alternatives for tools and a wide range of process parameters to consider. MSC has built a database of tools and parameters for different applications from the historical turning tests completed at various customer sites. The research project aims to use machine learning methods to predict optimal tools and process parameters for the MSC metalworking specialists using the MSC test database. This enables continuous learning of optimal tool and process parameters for different applications as new information is collected from testing. Through MSC, this information can be shared with machining shops across the US leading to improved productivity and efficiency.
42 ENGINEERING↗
Task-Based Neuromodulation Architecture for Lifelong Learning
The conventional supervised deep learning frameworks for image classification focus on finding the minimizer of an objective function. However, for a lifelong learning system, a network has to be able to dynamically learn new tasks from very few examples. In biological neural networks, it is observed that neuromodulation acts as a key factor in continual learning. In this work, we propose a dynamic learning system, ModNet, wherein a modulatory unit regulates the learning depending on the context and the internal state of the system. The modulatory unit, which consists of a group of neurons, exercises the use of neuromodulation and Hebbian plasticity mechanisms over a population of neurons instead of relying on backpropagation of error gradients. An efficient digital architecture with on-chip training and resource sharing is proposed to facilitate the efficacy of task-based processing.
brain-inspired↗
Envisioning urban environments resilient to vector-borne diseases: a protocol to study dengue in Vietnam
Transmitted primarily by Aedes aegypti (Ae. aegypti) and Aedes albopictus (Ae. albopictus), arboviral diseases pose a major global public health threat. Dengue, chikungunya, and zika are increasingly prevalent in Southeast Asia. Among other arboviruses, dengue and zika are becoming more common in Central and South America. Given human encroachment into previously uninhabited, often deforested areas, to provide new housing in regions of population expansion, conceptualizing built urban environments in a novel way is urgently needed to safeguard against the growing climate change-driven threat of vector-borne diseases. By understanding the spread from a One Health perspective, enhanced control and prevention can be achieved. This is particularly important considering that climate change is likely to significantly impact the persistence of ponded water where mosquitoes breed due to increasing temperature and shifting rainfall patterns with regard to magnitude, duration, frequency, and season. Models can incorporate aquatic mosquito stages and adult spatial dynamics when habitats are heterogeneously available, thereby including dispersal and susceptible-exposed-infected-recovered (SEIR) epidemiology. Coupled with human population distribution (density, locations), atmospheric conditions (air temperature, precipitation), and hydrological conditions (soil moisture distribution, ponding persistence in topographic depressions), modeling has improved predictive ability for infection rates. However, it has not informed interventional approaches from an urban environment perspective which considers the role of ponds/lakes that support green spaces, the density of population that enables rapid spread of disease, and varying micro-habitats for various mosquito stages under climate change. Here, for an example of dengue in Vietnam, a preventive and predictive approach to design resilient urban environments is proposed, which uses data from rapidly expanding metropolitan communities to learn continually. This protocol deploys computational approaches including simulation and machine learning/artificial intelligence, underpinned by surveillance and medical data for validation and adaptive learning. Its application may best inform urban planning in low-middle income countries in tropical zones where arboviral pathogens are prevalent.
60 APPLIED LIFE SCIENCES↗
Post University On-the-Job Training for Engineers
Our national need for qualified scientists and engineers is greater now than at any other time in our history. Fortunately, we can point with pride to this need as a measure of the impact of science and technology on our way of life. In effect, we have made such rapid strides In advancing established sciences and in opening new technological fields that we have proved the value of the scientist and engineer to society, and, as a-result, have created an expanding demand for their services which we must now attempt to satisfy. This demand we face is also due to the changing skills and high degree of specialization required to perform in these new technological fields. The colleges and universities are doing their part to provide current graduates with a modern technical foundation, but we cannot afford to ignore the thousands of experienced engineers and scientists already employed by private industry and government. As employers, we have an obligation to these men and women to see that they are provided with an understanding of the latest advances that modern technology has to offer; that we develop them in particular specialty areas characteristic of a given field of work; and, equally important, that we assist them in the transition from one field to another as the technological emphasis shifts. Practically all technological industries have experienced and continue to experience rapid changes in their activities. The aerospace business, in particular, has been characterized by extremely rapid, in fact revolutionary, changes during the relatively short period of its existence0 At the National Aeronautics and Space Administration, successor to the National Advisory Committee for Aeronautics, for example, we have encountered the fun impact of a changing science and technology. Indeed, as a research organization, we have undoubtedly contributed, in some measure, to this change. Within the NASAs Lewis Research Center, we have approximately 800 research scientists and engineers who have matured professionally in an environment which is essentially one of continuous learning - an experience which comes close to being a form of post graduate training in itself. This environment, in addition to providing continuous evolutionary changes, has also provided two major revolutions which have made this development picture more complex. We will describe these environmental changes which have occurred at the Lewis Research Center and discuss the various techniques and programs we have employed to provide for the professional development of our staff. The Lewis Research Center has had an Interesting and exciting l8-year history of aerospace propulsion research and development. It began during the early years of World War II as an expansion of the Power Plant Division of the NCA Langley Center with the mission of conducting research required for the development of improved reciprocating engines and to study the associated problems of subsonic propulsion aerodynamics, It was only a few years later, however, that turbojet and ramjet propulsion and supersonic flight research became our main concern. This transition to jet type engines and higher speeds was our first major technological change. The aerodynamics of propellers became the aerodynamics of high speed turbine and compressor blades; the fuel ignition and carbon deposition problems were transferred from a cyclical or Intermittent high compression combustion chamber to a continuous combustion zone within a thin-walled metal shell; aerodynamics problems were thrust into the supersonic range; and high temperature materials began to play an increasingly critical role. Although this transition still required the same basic knowledge and principles as before, the new engine types did involve a different emphasis and variety of consideration not generally familiar to our scientists and engineers.
Manganiello, Eugene J.↗
The new organization: Rethinking work in the age of virtuality
Like two enormous steam engines, throttles wide-open, bells clanging and whistles screeching, careening toward each other down the same track, two powerful forces are about to collide and the point of collision will be smack in the middle of the white-collar workplace. Moreover, once the dust has settled, it is quite likely that we will never be able to think about the white-collar workplace in quite the same way again. The forces couldn't be more different. One force, the theory of complex adaptive systems, has its roots in the radical new sciences of chaos and complexity. The other force, the notion of organizations being learning systems, more like living organisms than 'information factories,' is an outgrowth of the new management thinking of leading organizational theorists like the Claremont Graduate School's Peter Drucker, MIT's Peter Senge, and Hitotsubashi University's Ikujiro Nonaka. Nevertheless, both the new science and the new management thinking seem to point to a similar and perhaps even startling conclusion: the business organization of the 21st century will look nothing like the bureaucratic organizational model that prevails in most companies today, a model that has remained largely unchanged since the manufacturing heydays of 1950s. While the details of the new organization remain sketchy, its rough outline is already beginning to take shape. Rather than simply being flatter through the elimination of layer upon layer of 'middle management,' the new organization is likely to be made up of networks of specialists who will be, for all practical purposes, self-managing. Rather than focusing on issues like re-engineering business processes, a holdover from Taylorism, the focus will be on supporting the continuous learning of an organization's specialists, the sharing of this learning with other specialists, and the embedding of this learning in the organization's physical structure. Finally, rather than viewing themselves as going through relatively long periods of stability punctuated by shorts bursts of 'reorganization,' business enterprises will come to realize that their very survival depends upon their being in a state of continuous organization. The implications of the new organization with respect to how companies approach the planning, design, and management of the technology infrastructure that enables individual learning, self-management, and continuous orgsnization, are both numerous and far-reaching. As part of this technology infrastructure, the white-collar workplace exists in the form it does today as a direct result of management's beliefs about how time, space, and tools ought to be organized and managed in order to accomplish useful intellectual work. Obviously, if these beliefs change radically, as both the new science and the new management thinking suggest is about to happen, then it is almost inevitable that the form and function of the white-collar workplace will change radically, as well. Will there even be a white-collar workplace in the 21st century, in the sense of purpose-built facilities designed to support the co-location of large numbers of white-collar workers? Only time will tell. However, the leading indicators seem to suggest that, as the old saying goes, 'We ain't seen nothin' yet!'
Sutherland, Duncan B., Jr.↗
Leveraging Multitime Hamilton–Jacobi PDEs for Certain Scientific Machine Learning Problems
Hamilton-Jacobi partial differential equations (HJ PDEs) have deep connections with a wide range of fields, including optimal control, differential games, and imaging sciences. By considering the time variable to be a higher dimensional quantity, HJ PDEs can be extended to the multi-time case. In this paper, we establish a novel theoretical connection between specific optimization problems arising in machine learning and the multi-time Hopf formula, which corresponds to a representation of the solution to certain multi-time HJ PDEs. Through this connection, we increase the interpretability of the training process of certain machine learning applications by showing that when we solve these learning problems, we also solve a multi-time HJ PDE and, by extension, its corresponding optimal control problem. As a first exploration of this connection, we develop the relation between the regularized linear regression problem and the Linear Quadratic Regulator (LQR). We then leverage our theoretical connection to adapt standard LQR solvers (namely, those based on the Riccati ordinary differential equations) to design new training approaches for machine learning. Lastly, we provide some numerical examples that demonstrate the versatility and possible computational advantages of our Riccati-based approach in the context of continual learning, post-training calibration, transfer learning, and sparse dynamics identification.
97 MATHEMATICS AND COMPUTING↗
Idaho National Laboratory Integrated Safety Management System FY 2016 Effectiveness Review and Declaration Report
Idaho National Laboratory’s (INL’s) Integrated Safety Management System (ISMS) effectiveness review of fiscal year (FY) 2016 shows that INL has integrated management programs and safety elements throughout the oversight and operational activities performed at INL. The significant maturity of Contractor Assurance System (CAS) processes, as demonstrated across INL’s management systems and periodic reporting through the Management Review Meeting process, over the past two years has provided INL with current real-time understanding and knowledge pertaining to the health of the institution. INL’s sustained excellence of the Integrated Safety and effective implementation of the Worker Safety and Health Program is also evidenced by other external validations and key indicators. In particular, external validations include VPP, ISO 14001, DOELAP accreditation, and key Laboratory level indicators such as ORPS (number, event frequency and severity); injury/illness indicators such as Days Away, Restricted and Transfer (DART) case rate, back & shoulder metric and open reporting indicators, demonstrate a continuous positive trend and therefore improved operational performance over the last few years. These indicators are also reflective of the Laboratory’s overall organizational and safety culture improvement. Notably, there has also been a step change in ESH&Q Leadership actions that have been recognized both locally and complex-wide. Notwithstanding, Laboratory management continues to monitor and take action on lower level negative trends in numerous areas including: Conduct of Operations, Work Control, Work Site Analysis, Risk Assessment, LO/TO, Fire Protection, and Life Safety Systems, to mention a few. While the number of severe injury cases has decreased, as evidenced by the reduction in the DART case rate, the two hand injuries and the fire truck/ambulance accident were of particular concern. Aggressive actions continue in order to understand the causes and define actions needed to prevent similar injuries and accidents in the future. While our injury rate is not where we want it to be, it is not the only indicator that defines our ISMS program, safety culture, and efforts to be a continuous learning organization. When reviewing the entire year’s performance, and all areas that integrate ISMS principles and core functions, INL has an “effective” ISMS program that is continually improving.
99 GENERAL AND MISCELLANEOUS↗