Timo Untamo Honkela (August 4, 1962 – May 9, 2020) was a computer scientist at the University of Helsinki, Aalto University School of Science and Aalto University School of Art, Design and Architecture. He holds a PhD from Helsinki University of Technology. From 2014 until 2018 he held a fixed-term professorship at the University of Helsinki. Before joining the University of Helsinki he worked as a non-tenured professor in two Schools of the Aalto University, The School of Art, Design and Architecture and the School of Science. He has presented his thoughts on his studies and work in the joint blog 375 Humanists. Timo Honkela conducted research on several areas related to knowledge engineering, cognitive modeling and natural language processing. Honkela was born in Kalajoki. From 1998 to 2000 he worked as a professor in the Aalto Media Lab. To the media Lab Honkela brought his expertise in Kohonen self-organising map (SOM) and worked closely with artist and designers around the topic. In 2001 Honkela collaborated with George Legrady to produce an interactive museum installation, Pockets Full of Memories to the Centre Georges Pompidou, National Museum of Modern Art in Paris. The concept, created by Legrady, provided for visitors a possibility to scan their own objects to a database and then organise them by Kohonen Self-Organizing Map algorithm. In 2017 Honkela published a book in Finnish. The book Rauhankone (English: Peace Machine) presents his idea of designing artificial intelligence and machine learning to serve humanity, in practice to help people to live in peace with each other. He died in Helsinki. == Publications == Timo Honkela, Wlodzislaw Duch, Mark Girolami and Samuel Kaski (editors): Artificial Neural Networks and Machine Learning, Springer, 2011. Jorma Laaksonen and Timo Honkela (editors): Advances in Self-Organizing Maps, Springer, 2011. Timo Honkela: Rauhankone. Gaudeamus, 2017.
Multi-armed bandit
In probability theory and machine learning, the multi-armed bandit problem (sometimes called the K- or N-armed bandit problem) is named from imagining a gambler at a row of slot machines (sometimes known as "one-armed bandits"), who has to decide which machines to play, how many times to play each machine and in which order to play them, and whether to continue with the current machine or try a different machine. More generally, it is a problem in which a decision maker iteratively selects one of multiple fixed choices (i.e., arms or actions) when the properties of each choice are only partially known at the time of allocation, and may become better understood as time passes. A fundamental aspect of bandit problems is that choosing an arm does not affect the properties of the arm or other arms. Instances of the multi-armed bandit problem include the task of iteratively allocating a fixed, limited set of resources between competing (alternative) choices in a way that minimizes the regret. A notable alternative setup for the multi-armed bandit problem includes the "best arm identification (BAI)" problem where the goal is instead to identify the best choice by the end of a finite number of rounds. The multi-armed bandit problem is a classic reinforcement learning problem that exemplifies the exploration–exploitation tradeoff dilemma. In contrast to general reinforcement learning, the selected actions in bandit problems do not affect the reward distribution of the arms. The multi-armed bandit problem also falls into the broad category of stochastic scheduling. In the problem, each machine provides a random reward from a probability distribution specific to that machine, that is not known a priori. The objective of the gambler is to maximize the sum of rewards earned through a sequence of lever pulls. The crucial tradeoff the gambler faces at each trial is between "exploitation" of the machine that has the highest expected payoff and "exploration" to get more information about the expected payoffs of the other machines. The trade-off between exploration and exploitation is also faced in machine learning. In practice, multi-armed bandits have been used to model problems such as managing research projects in a large organization, like a science foundation or a pharmaceutical company. In early versions of the problem, the gambler begins with no initial knowledge about the machines. Herbert Robbins in 1952, realizing the importance of the problem, constructed convergent population selection strategies in "some aspects of the sequential design of experiments". A theorem, the Gittins index, first published by John C. Gittins, gives an optimal policy for maximizing the expected discounted reward. == Empirical motivation == The multi-armed bandit problem models an agent that simultaneously attempts to acquire new knowledge (called "exploration") and optimize their decisions based on existing knowledge (called "exploitation"). The agent attempts to balance these competing tasks in order to maximize their total value over the period of time considered. There are many practical applications of the bandit model, for example: clinical trials investigating the effects of different experimental treatments while minimizing patient losses, adaptive routing efforts for minimizing delays in a network, financial portfolio design In these practical examples, the problem requires balancing reward maximization based on the knowledge already acquired with attempting new actions to further increase knowledge. This is known as the exploitation vs. exploration tradeoff in machine learning. The model has also been used to control dynamic allocation of resources to different projects, answering the question of which project to work on, given uncertainty about the difficulty and payoff of each possibility. Originally considered by Allied scientists in World War II, it proved so intractable that, according to Peter Whittle, the problem was proposed to be dropped over Germany so that German scientists could also waste their time on it. The version of the problem now commonly analyzed was formulated by Herbert Robbins in 1952. == The multi-armed bandit model == The multi-armed bandit (short: bandit or MAB) can be seen as a set of real distributions B = { R 1 , … , R K } {\displaystyle B=\{R_{1},\dots ,R_{K}\}} , each distribution being associated with the rewards delivered by one of the K ∈ N + {\displaystyle K\in \mathbb {N} ^{+}} levers. Let μ 1 , … , μ K {\displaystyle \mu _{1},\dots ,\mu _{K}} be the mean values associated with these reward distributions. The gambler iteratively plays one lever per round and observes the associated reward. The objective is to maximize the sum of the collected rewards. The horizon H {\displaystyle H} is the number of rounds that remain to be played. The bandit problem is formally equivalent to a one-state Markov decision process. The regret ρ {\displaystyle \rho } after T {\displaystyle T} rounds is defined as the expected difference between the reward sum associated with an optimal strategy and the sum of the collected rewards: ρ = T μ ∗ − ∑ t = 1 T r ^ t {\displaystyle \rho =T\mu ^{}-\sum _{t=1}^{T}{\widehat {r}}_{t}} , where μ ∗ {\displaystyle \mu ^{}} is the maximal reward mean, μ ∗ = max k { μ k } {\displaystyle \mu ^{}=\max _{k}\{\mu _{k}\}} , and r ^ t {\displaystyle {\widehat {r}}_{t}} is the reward in round t {\displaystyle t} . A zero-regret strategy is a strategy whose average regret per round ρ / T {\displaystyle \rho /T} tends to zero with probability 1 when the number of played rounds tends to infinity. Intuitively, zero-regret strategies are guaranteed to converge to a (not necessarily unique) optimal strategy if enough rounds are played. == Variations == A common formulation is the Binary multi-armed bandit or Bernoulli multi-armed bandit, which issues a reward of one with probability p {\displaystyle p} , and otherwise a reward of zero. Another formulation of the multi-armed bandit has each arm representing an independent Markov machine. Each time a particular arm is played, the state of that machine advances to a new one, chosen according to the Markov state evolution probabilities. There is a reward depending on the current state of the machine. In a generalization called the "restless bandit problem", the states of non-played arms can also evolve over time. There has also been discussion of systems where the number of choices (about which arm to play) increases over time. Computer science researchers have studied multi-armed bandits under worst-case assumptions, obtaining algorithms to minimize regret in both finite and infinite (asymptotic) time horizons for both stochastic and non-stochastic arm payoffs. === Best arm identification === An important variation of the classical regret minimization problem in multi-armed bandits is best arm identification (BAI), also known as pure exploration. This problem is crucial in various applications, including clinical trials, adaptive routing, recommendation systems, and A/B testing. In BAI, the objective is to identify the arm having the highest expected reward. An algorithm in this setting is characterized by a sampling rule, a decision rule, and a stopping rule, described as follows: Sampling rule: ( a t ) t ≥ 1 {\displaystyle (a_{t})_{t\geq 1}} is a sequence of actions at each time step Stopping rule: τ {\displaystyle \tau } is a (random) stopping time which suggests when to stop collecting samples Decision rule: a ^ τ {\displaystyle {\hat {a}}_{\tau }} is a guess on the best arm based on the data collected up to time τ {\displaystyle \tau } There are two predominant settings in BAI: Fixed budget setting: Given a time horizon T ≥ 1 {\displaystyle T\geq 1} , the objective is to identify the arm with the highest expected reward a ⋆ ∈ arg max k μ k {\displaystyle a^{\star }\in \arg \max _{k}\mu _{k}} minimizing probability of error δ {\displaystyle \delta } . Fixed confidence setting: Given a confidence level δ ∈ ( 0 , 1 ) {\displaystyle \delta \in (0,1)} , the objective is to identify the arm with the highest expected reward a ⋆ ∈ arg max k μ k {\displaystyle a^{\star }\in \arg \max _{k}\mu _{k}} with the least possible amount of trials and with probability of error P ( a ^ τ ≠ a ⋆ ) ≤ δ {\displaystyle \mathbb {P} ({\hat {a}}_{\tau }\neq a^{\star })\leq \delta } . For example using a decision rule, we could use m 1 {\displaystyle m_{1}} where m {\displaystyle m} is the machine no.1 (you can use a different variable respectively) and 1 {\displaystyle 1} is the amount for each time an attempt is made at pulling the lever, where ∫ ∑ m 1 , m 2 , ( . . . ) = M {\displaystyle \int \sum m_{1},m_{2},(...)=M} , identify M {\displaystyle M} as the sum of each attempts m 1 + m 2 {\displaystyle m_{1}+m_{2}} , (...) as needed, and from there you can get a ratio, sum or mean as quantitative probability and sample your formulation for each slots. You can also do ∫ ∑ k ∝ i N − (
Outline of robotics
The following outline is provided as an overview of and topical guide to robotics: Robotics is a branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, behaviour, and or cognition. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics. The word "robot" was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum's Universal Robots), published in 1920. The term "robotics" was coined by Isaac Asimov in his 1941 science fiction short-story "Liar!" == Nature of robotics == Robotics can be described as: An applied science – scientific knowledge transferred into a physical environment. A branch of computer science – A branch of electrical engineering – A branch of mechanical engineering – Research and development – A branch of technology – == Branches of robotics == Adaptive control – control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions. Aerial robotics – development of unmanned aerial vehicles (UAVs), commonly known as drones, aircraft without a human pilot aboard. Their flight is controlled either autonomously by onboard computers or by the remote control of a pilot on the ground or in another vehicle. Android science – interdisciplinary framework for studying human interaction and cognition based on the premise that a very humanlike robot (that is, an android) can elicit human-directed social responses in human beings. Anthrobotics – science of developing and studying robots that are either entirely or in some way human-like. Artificial intelligence – the intelligence of machines and the branch of computer science that aims to create it. Artificial neural networks – a mathematical model inspired by biological neural networks. Autonomous car – an autonomous vehicle capable of fulfilling the human transportation capabilities of a traditional car Autonomous research robotics – Bayesian network – BEAM robotics – a style of robotics that primarily uses simple analogue circuits instead of a microprocessor in order to produce an unusually simple design (in comparison to traditional mobile robots) that trades flexibility for robustness and efficiency in performing the task for which it was designed. Behavior-based robotics – the branch of robotics that incorporates modular or behavior based AI (BBAI). Bio-inspired robotics – making robots that are inspired by biological systems. Biomimicry and bio-inspired design are sometimes confused. Biomimicry is copying the nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature. Biomimetic – see Bionics. Biomorphic robotics – a sub-discipline of robotics focused upon emulating the mechanics, sensor systems, computing structures and methodologies used by animals. Bionics – also known as biomimetics, biognosis, biomimicry, or bionical creativity engineering is the application of biological methods and systems found in nature to the study and design of engineering systems and modern technology. Biorobotics – a study of how to make robots that emulate or simulate living biological organisms mechanically or even chemically. Cloud robotics – is a field of robotics that attempts to invoke cloud technologies such as cloud computing, cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for robotics. Cognitive robotics – views animal cognition as a starting point for the development of robotic information processing, as opposed to more traditional Artificial Intelligence techniques. Clustering – Computational neuroscience – study of brain function in terms of the information processing properties of the structures that make up the nervous system. Robot control – a study of controlling robots Robotics conventions – Data mining Techniques – Degrees of freedom – in mechanics, the degree of freedom (DOF) of a mechanical system is the number of independent parameters that define its configuration. It is the number of parameters that determine the state of a physical system and is important to the analysis of systems of bodies in mechanical engineering, aeronautical engineering, robotics, and structural engineering. Developmental robotics – a methodology that uses metaphors from neural development and developmental psychology to develop the mind for autonomous robots Digital control – a branch of control theory that uses digital computers to act as system controllers. Digital image processing – the use of computer algorithms to perform image processing on digital images. Dimensionality reduction – the process of reducing the number of random variables under consideration, and can be divided into feature selection and feature extraction. Distributed robotics – Electronic stability control – is a computerized technology that improves the safety of a vehicle's stability by detecting and reducing loss of traction (skidding). Evolutionary computation – Evolutionary robotics – a methodology that uses evolutionary computation to develop controllers for autonomous robots Extended Kalman filter – Flexible Distribution functions – Feedback control and regulation – Human–computer interaction – a study, planning and design of the interaction between people (users) and computers Human robot interaction – a study of interactions between humans and robots Intelligent vehicle technologies – comprise electronic, electromechanical, and electromagnetic devices - usually silicon micromachined components operating in conjunction with computer controlled devices and radio transceivers to provide precision repeatability functions (such as in robotics artificial intelligence systems) emergency warning validation performance reconstruction. Computer vision – Machine vision – Kinematics – study of motion, as applied to robots. This includes both the design of linkages to perform motion, their power, control and stability; also their planning, such as choosing a sequence of movements to achieve a broader task. Laboratory robotics – the act of using robots in biology or chemistry labs Robot learning – learning to perform tasks such as obstacle avoidance, control and various other motion-related tasks Direct manipulation interface – In computer science, direct manipulation is a human–computer interaction style which involves continuous representation of objects of interest and rapid, reversible, and incremental actions and feedback. The intention is to allow a user to directly manipulate objects presented to them, using actions that correspond at least loosely to the physical world. Manifold learning – Microrobotics – a field of miniature robotics, in particular mobile robots with characteristic dimensions less than 1 mm Motion planning – (a.k.a., the "navigation problem", the "piano mover's problem") is a term used in robotics for the process of detailing a task into discrete motions. Motor control – information processing related activities carried out by the central nervous system that organize the musculoskeletal system to create coordinated movements and skilled actions. Nanorobotics – the emerging technology field creating machines or robots whose components are at or close to the scale of a nanometer (10−9 meters). Passive dynamics – refers to the dynamical behavior of actuators, robots, or organisms when not drawing energy from a supply (e.g., batteries, fuel, ATP). Programming by Demonstration – an End-user development technique for teaching a computer or a robot new behaviors by demonstrating the task to transfer directly instead of programming it through machine commands. Quantum robotics – a subfield of robotics that deals with using quantum computers to run robotics algorithms more quickly than digital computers can. Rapid prototyping – automatic construction of physical objects via additive manufacturing from virtual models in computer aided design (CAD) software, transforming them into thin, virtual, horizontal cross-sections and then producing successive layers until the items are complete. As of June 2011, used for making models, prototype parts, and production-quality parts in relatively small numbers. Reinforcement learning – an area of machine learning in computer science, concerned with how an agent ought to take actions in an environment so as to maximize some notion of cumulative reward. Robot
Jaggies
Jaggies are visual artifacts in raster images, most frequently from aliasing, which in turn is often caused by non-linear mixing effects producing high-frequency components, or missing or poor anti-aliasing filtering prior to sampling. Jaggies are stair-like lines that appear where there should be "smooth" straight lines or curves. For example, when a nominally straight, un-aliased line steps across one pixel either horizontally or vertically, a "dogleg" occurs halfway through the line, where it crosses the threshold from one pixel to the other. Jaggies should not be confused with most compression artifacts, which are a different phenomenon. == Causes == Jaggies occur due to the "staircase effect". This is because a line represented in raster mode is approximated by a sequence of pixels. Jaggies can occur for a variety of reasons, the most common being that the output device (display monitor or printer) does not have sufficient resolution to portray a smooth line. In addition, jaggies often occur when a bit-mapped image is scaled to a higher resolution. This is one of the advantages that vector graphics have over bitmapped graphics – a vector image can be losslessly scaled to any arbitrary resolution or stretched infinitely in either axis without introducing jaggies. == Solutions == The effect of jaggies can be reduced by a graphics technique known as spatial anti-aliasing. Anti-aliasing smooths out jagged lines by surrounding them with transparent pixels to simulate the appearance of fractionally-filled pixels when viewed at a distance. The downside of anti-aliasing is that it reduces contrast – rather than sharp black/white transitions, there are shades of gray – and the resulting image can appear fuzzy. This is an inescapable trade-off: if the resolution is insufficient to display the desired detail, the output will either be jagged, fuzzy, or some combination thereof. While machine learning-based upscaling techniques such as DLSS can be used to infer this missing information, other types of artifacts may be introduced in the process. In real-time 3D rendering such as in video games, various anti-aliasing techniques are used to remove jaggies created by the edges of polygons and other contrasting lines. Since anti-aliasing can impose a significant performance overhead, games for home computers often allow users to choose the level and type of anti-aliasing in use in order to optimize their experience, whereas on consoles this setting is typically fixed for each title to ensure a consistent experience. While anti-aliasing is generally implemented through graphics APIs like DirectX and Vulkan, some consoles such as the Xbox 360 and PlayStation 3 are also capable of anti-aliasing to little direct performance cost by way of dedicated hardware which performs anti-aliasing on the contents of the framebuffer once it has been rendered by the GPU. Jaggies in bitmaps, such as sprites and surface materials, are most often dealt with by separate texture filtering routines, which are far easier to perform than anti-aliasing filtering. Texture filtering became ubiquitous on PCs after the introduction of 3Dfx's Voodoo GPU. == Notable uses of the term == In the 1985 game Rescue on Fractalus! for the Atari 8-bit computers, the graphics depicting the cockpit of the player's spacecraft contains two window struts, which are not anti-aliased and are therefore very "jagged". The developers made fun of this and named the in-game enemies "Jaggi", and also initially titled the game Behind Jaggi Lines!. The latter idea was scrapped by the marketing department before release.
Autonomous logistics
Autonomous logistics describes systems that provide unmanned, autonomous transfer of equipment, baggage, people, information or resources from point-to-point with minimal human intervention. Autonomous logistics is a new area being researched and currently there are few papers on the topic, with even fewer systems developed or deployed. With web enabled cloud software there are companies focused on developing and deploying such systems which will begin coming online in 2018. == Autonomous logistics vehicles == There are several subclasses of autonomous logistics vehicles: Ground autonomous logistics Based on Unmanned ground vehicle technology, a large autonomous logistics tracked carrier, which can be deployed in a tropical forest for day and night, has been developed. Another example is the TerraMax autonomous truck based on Oshkosh's Medium Tactical Vehicle Replacement (MTVR) military truck platform. Most recently, TerraMax competed in the 2007 Darpa Urban Challenge. The MTVR was designed for the U.S. Marine Corps with a 70% off-road mission profile. TerraMax's unmanned ground vehicle kit does not interfere with the conventional operation of the vehicle. A robust sensor suite allows for 360-degree situational awareness around TerraMax. Elements of the autonomous navigation kit could be used to enhance driver awareness. The complete kit could be used in applications such as snow removal on airport runways. Aerial autonomous logistics Based on unmanned aerial vehicle technology, aerial autonomous logistics (or logistics UAVs) provides transfer of resources and equipment in disaster relief situations, replenishment operations, reconnaissance operations where information is gathered, and general parcel or package delivery. Space autonomous logistics Describes the ability to provide logistics to and from space, be that orbital, lunar or beyond. Current space logistics vehicle examples are the Progress spacecraft, Russian expendable freighter uncrewed resupply spacecraft and the Automated Transfer Vehicle, expendable uncrewed resupply spacecraft developed by the European Space Agency. Above Water autonomous logistics Based on unmanned surface vehicle technology, this class of vehicles provides a range of surface fleet replenishment and equipment transfer capabilities. Subsea autonomous logistics Using autonomous underwater vehicle technology, these vehicles provide re-supply to underwater facilities, reconnaissance of underwater structures, emergency recovery capability, and so on. == Agent-based logistics == Shipping containers handle most of today's intercontinental transport of packaged goods. Managing them in terms of planning and scheduling is a challenging task due to the complexity and dynamics of the involved processes. Hence, recent developments show an increasing trend towards autonomous control with software agents acting on behalf of the logistic objects. Despite the high degree of autonomy it is still necessary to cooperate in order to achieve certain goals. The current trends and recent changes in logistics lead to new, complex and partially conflicting requirements for logistic planning and control systems. Due to the distributed nature of logistics, the usage of agent technology is promising. Due to the mobile nature of logistics, the usage of mobile agent technology is promising as well. Scenarios of usage of mobile agents in logistics has been envisioned.
Emergent algorithm
An emergent algorithm is an algorithm that exhibits emergent behavior. In essence an emergent algorithm implements a set of simple building block behaviors that when combined exhibit more complex behaviors. One example of this is the implementation of fuzzy motion controllers used to adapt robot movement in response to environmental obstacles. An emergent algorithm has the following characteristics: it achieves predictable global effects it does not require global visibility it does not assume any kind of centralized control it is self-stabilizing Other examples of emergent algorithms and models include cellular automata, artificial neural networks and swarm intelligence systems (ant colony optimization, bees algorithm, etc.).
DataScene
DataScene is a scientific graphing, animation, data analysis, and real-time data monitoring software package. It was developed with the Common Language Infrastructure technology and the GDI+ graphics library. With the two Common Language Runtime engines - the .Net and Mono frameworks - DataScene runs on all major operating systems. With DataScene, the user can plot 39 types 2D & 3D graphs (e.g., Area graph, Bar graph, Boxplot graph, Pie graph, Line graph, Histogram graph, Surface graph, Polar graph, Water Fall graph, etc.), manipulate, print, and export graphs to various formats (e.g., Bitmap, WMF/EMF, JPEG, PNG, GIF, TIFF, PostScript, and PDF), analyze data with different mathematical methods (fitting curves, calculating statics, FFT, etc.), create chart animations for presentations (e.g. with PowerPoint), classes, and web pages, and monitor and chart real-time data. == History == DataScene was first released (version 1.0) in March 2009 for the Windows platform and the .Net 2.0 framework. Since version 2.0, DataScene has been ported to the Mono framework 2.6 and all Linux and Unix/X11 operating systems. Cyberwit offers free licensing for the Express edition of DataScene.