Robot Learning from Demonstration (LfD) allows robots to implement autonomous manipulation by observing the movements executed by a demonstrator. As such, LfD has been established as a key element for useful user interactions in everyday environments. Kinesthetic teaching, a teaching technique within LfD, entails physically guiding the robot to achieve a task. When demonstrating complex actions on a multi-DoF manipulator, novice users typically encounter difficulties with trajectory continuity and joint orientation, necessitating training by an expert. A comparison between different training approaches is conducted in a study of nine novice users. These approaches are kinesthetic, observational and discovery-learning. The kinesthetic method utilizes record and playback functions implemented on a 7-DoF Barrett Technology WAM robot. A novice user passively holds the arm while an expert's trajectory is replayed. A visual demonstration by the expert is used for the observational training group. The discovery-learning group does not receive an expert demonstration; they use trial-and-error to produce the trajectory on their own. Task-space performance is evaluated pre- and post-training for each user to determine the relative and absolute performance improvements of the groups across the three training approaches. Absolute performance improvements are compared to the performance of an expert and a minimum-jerk trajectory to gauge how skillful the participant becomes with respect to the expert. The kinesthetic approach shows superior indicators of performance in trajectory similarity to the minimum-jerk trajectory with 39% and 13% improvement over the observational and discovery methods, respectively. Observational training shows greater improvement in terms of the smoothness of the velocity profile with 32.7% compared to 29.5% and 21.9% for both discovery and kinesthetic training, respectively.

Article Free Access Share on Information agents for automated browsing Authors: Chanda Dharap Philips Research Labs. Philips Research Labs.View Profile , Martin Freeman Philips Research Labs. Philips Research Labs.View Profile Authors Info & Claims CIKM '96: Proceedings of the fifth international conference on Information and knowledge managementNovember 1996 Pages 296–305https://doi.org/10.1145/238355.238563Published:12 November 1996Publication History 10citation496DownloadsMetricsTotal Citations10Total Downloads496Last 12 Months3Last 6 weeks0 Get Citation AlertsNew Citation Alert added!This alert has been successfully added and will be sent to:You will be notified whenever a record that you have chosen has been cited.To manage your alert preferences, click on the button below.Manage my AlertsNew Citation Alert!Please log in to your account Save to BinderSave to BinderCreate a New BinderNameCancelCreateExport CitationPublisher SiteeReaderPDF

In this paper a CMOS memory access controller chip is described that provides the basis for achieving high-performance 68020-based (68030-based) systems. This controller matches the speed of the memory system to that of the microprocessor by providing a virtual cache mechanism where address translations are only required when there is a cache miss.

In this paper upper bounds on the finite input-memory μiand finite output-memory μoof n-state completely specified sequential machines (CSSM's) and incompletely specified sequential machines (ISSM's) are investigated. It is observed through computational means that N = n(n − 1)/2 is not a tight upper bound for finite input-memory of ISSM's and finite output-memory of both CSSM's and ISSM's. Tight upper bounds of μi, μo≤ 14 for 6-state machines and tight upper bounds of μi, μo, ≤ 20 for 7-state machines are obtained.

Article Free Access Share on An instruction class for an extensible interpreter Author: Martin Freeman The American University, Washington, D. C. The American University, Washington, D. C.View Profile Authors Info & Claims ISCA '75: Proceedings of the 2nd annual symposium on Computer architectureJanuary 1975 Pages 195–200https://doi.org/10.1145/642089.642122Online:01 December 1974Publication History 2citation215DownloadsMetricsTotal Citations2Total Downloads215Last 12 Months4Last 6 weeks0 Get Citation AlertsNew Citation Alert added!This alert has been successfully added and will be sent to:You will be notified whenever a record that you have chosen has been cited.To manage your alert preferences, click on the button below.Manage my AlertsNew Citation Alert!Please log in to your account Save to BinderSave to BinderCreate a New BinderNameCancelCreateExport CitationPublisher SiteeReaderPDF

A theoretical model of a microprogram unit is formulated, and the relationship of this model to a form of feedback shift register is developed. The feedback shift-register machine variant has synchronous and asynchronous prototypes. The asynchronous binary feedback shift-register machines realize every fundamental mode asynchronous sequential (finite-state) machine. The synchronous feedback shift-register machine differs from the standard definition by the addition of transitional states to the usual (nontransitional) states, and a single step in the simulation is a move between nontransitional states. When synchronous feedback shift-register machines are generalized in this way, they also become universal components capable of simulating ali finite-state machines.